Open AccessMODELING OF LOADING BY INDUSTRIAL EXOSKELET
Author(s) -
S. F. Yatsun,
Vladimir Antipov,
A. E. Karlov
Publication year - 2019
Publication title -
izvestiâ ûgo-zapadnogo gosudarstvennogo universiteta
Language(s) - English
Resource type - Journals
eISSN - 2686-6757
pISSN - 2223-1560
DOI - 10.21869/2223-1560-2018-22-6-14-20
Subject(s) - exoskeleton , kinematics , task (project management) , rotation (mathematics) , movement (music) , computer science , inverse kinematics , inverse , control theory (sociology) , simulation , mathematics , engineering , artificial intelligence , geometry , physics , classical mechanics , systems engineering , acoustics , control (management)
The article deals with the task of lifting a weight by a person using an exoskeleton. It is proposed to consider lifting in the form of three successive stages. A mathematical model of the exoskeleton, describing movement in various modes of movement, has been developed. The inverse task of kinematics was solved, which allows finding the rotation angles of the exoskeleton links at the preparatory stage. The method for determining the driving moments at the stages of lifting the load is proposed.