The Modeling of the Standing-Up Process of the Anthropomorphic Mechanism

Control features of the electromechanical system with end-effector considering the regulated torque

“…In mechatronic systems, P-regulators and PIDcontrollers are widely used to create a position control system [2][3][4][5], but in practice PD-controllers are also used, which are much easier to configure using, among other methods, manual tuning methods [10,11]. We note that the evaluation of the integral component in the PID controller requires significant computational power of the control system [10].…”

“…1) that enables a person with lower-limb disabilities to perform upright gait, climb stairs and perform simple body movements [3][4][5][6][7][8]. It is also important for exoskeleton system to ensure torque limitation to guarantee smooth motion of the drives, user safety and long life of the mechanical transmissions.…”

Modeling the Motion of a Flapping Wing Aerial Vehicle

“…The article discusses a flapping wing device called an ornithopter, which consists of a chain of five links [5]. Each wing of the robot is formed by two links: 1 and 2, 4 and 5, connected to each other by cylindrical hinges that also connect them with the body 3 ( fig.…”

“…The study of the character of the movement of birds has enabled us to makes an important conclusion that a system of three or five rigid bodies connected by hinges equipped with electric drives can be used as a simplified system that adequately models the motion of a robotornithopter [1][2][3][4][5][6][7]. By feeding control voltages to the actuators we can change the relative angles defining the position of the links with respect to each other by given values.…”

“…In this connection, we constructed the laws of variation of the angles of the wing links, for which the behavior of the device is analogous to that of seagull [5]. …”