MODELING OF LOADING BY INDUSTRIAL EXOSKELET
The article deals with the task of lifting a weight by a person using an exoskeleton. It is proposed to consider lifting in the form of three successive stages. A mathematical model of the exoskeleton, describing movement in various modes of movement, has been developed. The inverse task of kinematics was solved, which allows finding the rotation angles of the exoskeleton links at the preparatory stage. The method for determining the driving moments at the stages of lifting the load is proposed.