ИСТИНА

In this work we consider the problem of constructing automatic control models of three‐tier limb‐type manipulator repeating flat goal directed human movement. Moreover, we assume that the geometrical limitations of the human hand were imposed on the manipulator. We consider the elbow and shoulder angles as parameters of the position. Wrist angle is fixed. The space of end angular positions was obtained analytically with respect of hand parameters and geometric restrictions. We constructed automatic control and estimated its performance. We recorded the natural motion of human hand and compared results with results of automatic control. As a result we derived the mathematical model of control of three‐tier manipulator that is similar to manipulation model of real limb motion. The investigation supported by RSF grant 14‐50‐00029.