 | | Journal of Applied
Mathematics and Mechanics
Russian Academy of Sciences | | Founded
in January 1936
(Translated from 1958)
Issued 6 times a year
ISSN 0021-8928
(print version) |
Archive of Issues
| Total articles in the database: | | 10522 |
| In Russian (ΟΜΜ): | | 9723
|
| In English (J. Appl. Math. Mech.): | | 799 |
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| A.V. Borisov and G.M. Rozenblat, "Matrix method of constructing the differential equations of motion of an exoskeleton and its control," J. Appl. Math. Mech. 81 (5), 351-359 (2017) |
| Year |
2017 |
Volume |
81 |
Issue |
5 |
Pages |
351-359 |
| DOI |
10.1016/j.jappmathmech.2018.03.002 |
| Title |
Matrix method of constructing the differential equations of motion of an exoskeleton and its control |
| Author(s) |
A.V. Borisov (The Branch of National Research University "Moscow Power Engineering Institute in Smolensk", Smolensk, Russia, borisowandrej@yandex.ru)
G.M. Rozenblat (Moscow Automobile and Road Construction State Technical University (MADI), Moscow, Russia, gr51@mail.ru) |
| Abstract |
Two mathematical models of rods of variable length from which an exoskeleton can be created, providing comfortable movement of a human in it owing to duplication of the properties of a motion-support apparatus, are considered. Their structure is elucidated on the basis of an analysis of the differential equations of motion, allowing for representing them in vector-matrix form. General regularities of the construction of the matrix elements entering into the system of differential equations of motion are established and generalizing formulae for the matrix elements are obtained. A new matrix method of constructing the differential equations of motion is presented and illustrated by a specific example. This system of equations is solved numerically. The possibility of reinforcing the control actions for control of the exoskeleton motion with a human inside it is considered. |
| Keywords |
control torque; gravity torques |
| Received |
19 June 2016 |
| Link to Fulltext |
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