articles

When considering the motion of statically unstable objects, such as a cyberphysical system in the form of a seven-link exoskeleton mechanism, the problem of adhesion to the supporting surface plays a significant role during anthropoid walking. This is because operating conditions change during movement: gait phases alternate, the characteristics of the supporting surface change, and external disturbances occur. To improve stability and prevent slippage, it is necessary to consider the characteristics of foot motion. Therefore, the presence of weighty inertial feet ensures the novelty and relevance of the proposed model. This paper presents a model of a cyber-physical system for an exoskeleton mechanism moving in a vertical plane and creating the prerequisites for implementing a situational approach to movement control. The model includes seven moving links connected by hinges, ensuring the maximum approximation of the model to a real exoskeleton. The objective of the study is to develop and describe algorithms for designing motion control for an exoskeleton mechanism using a software method, taking into account situational parameters, applying a previously developed method for controlling a robotic anthropoid mechanism in the form of programmable movements. The testing of the developed algorithms was carried out in the Wolfram Mathematica environment using mathematical modeling tools, numerical methods and visualization. In the course of the work, a model of an exoskeletal mechanism with seven movable links was developed, including weighty feet moving in a vertical plane. The originality of the development lies in the use of angles between the links when describing the model and the use of rotation matrices of the coordinate axes when composing a system of differential equations. A mathematical model of the presented link of the exoskeletal mechanism and algorithms for solving direct and inverse dynamics problems for it have been developed. A motion visualization routine has been created that allows you to demonstrate the motion process of the model in question in accordance with the specified functions. The necessity of taking into account situational parameters when using an exoskeleton is shown. The relevance of using fuzzy logic methods and neural networks to optimize modeling while adapting to environmental uncertainty is described.