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DAMPING OF THE VIBRATIONS OF A GRIPPING DEVICE OF AN INDUSTRIAL ROBOT IN A REGIME OF A TWO CURRENTS DYNAMIC SLOWDOWN OF AN ASYNCHRONOUS MOTOR WITH FREQUENCY CONTROL

A method of reducing the amplitude of fluctuations in moving body of the indus-trial robot, gripping device in positioning mode. A feature of the method is to use two currents dynamic slowdown an asynchronous motor, running on a autonomous voltage inverter - induction motor in the frequency control. Pro-gram forming torque on the shaft of asynchronous motor through the mutual rotation vectors of the magnetic field of stator and rotor taking into account the amplitude and phase fluctuations in moving body of the industrial robot allow more accurate positioning gripping device in the performance of the transport and manufacturing operations.

 
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