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Pat. 11146150 United States, Int. Cl.22 H02K 11/33, B25J 9/00, H02K 5/18, H02K 5/20, H02K 5/22, H02K 9/04, H02M 7/48, H02P 25/16. Motor control device and robot system : Appl. N 16/228674 : Filed 20.12.2018 : Pub. 12.10.2021 : / Ryuichi Soda, Kenichi Sadakane, Keijiro Misu ; Assignee Yaskawa Electric Corp ; NN p. : patents.google.com : URL: https://patents.google.com/patent/US11146150/en?oq=US11146150.html (дата обращения: ДД.ММ.ГГГГ).