Ensuring of the industrial robot link motion accuracy parameters in the low-speed zone

Introduction. The article is devoted to the search for a method of reducing the effect of friction links mobility industrial robot PR (production mechanism PM) with frequency-controlled electric drive (FCED) on the static error (accuracy) positioning of the working body (WB) when moving in a low speed zone. The random character of friction forces changes in the implementation process start-braking modes of induction motor (IM) operation create difficulties in performance specified technological process parameters. The formation of pulsating moments on the IM shaft, due to the stator IM current harmonics, combined with the friction torque of the moving parts in the IR (IM) guide, accompanied by a deterioration of the WB (IM output link) movement dynamics.Materials and Methods. To correction the motion of the WB (PM output link) in the IM start-brake modes, the authors proposed to use dual-mode control of the Autonomous voltage inverter (AVI), providing software control of the IM stator current harmonics amplitudes and the corresponding regulation of the pulsating moments on the IM shaft by introducing a multiple "m - submodulation" of the AVI carrier frequency (CF)...