3D Model of Three Links for Exosuit with a Mobile Pole

The paper proposes the model of aerospace exosuit in the form of anthropomorphic mechanism on a mobile base. The proposed model allows simulating the 3D motion. The differential equations of motion were compiled for the model under consideration. The inverse dynamics problem was solved for the specified anthropomorphic motion of the exosuit. The model to control the exosuit programmed motion was created, which applies the constraints stabilization method for synthesizing the command signals passed to the control system based on electric drives.