On Mathematical Modeling of the Dynamics of Multilink Systems and Exoskeletons

摘要

A review of well-known publications is given and some results of the authors’ research on modeling the dynamics of systems of rigid bodies and exoskeletons are presented. Various approaches to the problem of modeling the dynamics of multilink systems are described, including the problems of constructing equations of motion and solving control problems. Matrix and recurrent methods of composing equations for the dynamics of anthropomorphic mechanisms and exoskeletons, as well as problems of modeling flat and spatial systems containing links of variable length, are considered. The results of the research on the analytical design of exoskeletons, anthropomorphic mechanisms, and their analogs seem to be relevant for the design of systems designed to enhance human motor functions and the development of robotic systems for various purposes.