Elements of Built-In Diagnostics for Resonance Drive with Adaptive Control System

Resonance drives are considered with adaptive control for robotics. The use of these drives allows increasing machine's quickness several times and decreasing energy expenses simultaneously 10-50 times, Elements of artificial intellect are introduced into the drives. It has been shown that micro-controller used for adaptive control, can be also used for getting a diagnostic information on a condition of drive's components during work process. Algorithms are presented for evaluation of condition of resilient members, reduction gear, etc.