Development and modelling of a control system of multi-jointed biotechnical objects

The paper presents a system of controlling a biomechanical walking machine. Our approach is quite peculiar because it simultaneously solves the inverse and the direct control problem on the basis of the machine model. At first, using the data about the movement of the machine body the trajectories of the feet movement are calculated; then, using the machine model, leg joints turn angles are determined, as well as the corresponding position of the control components of the gear. After that the direct problem of achieving the desired position by leg joints gears is solved. As a result, leg joints turn and the machine body moves along the required trajectory. All actions are performed by count cycles. The modelling results confirmed the efficiency of the control system.