THE PROGRAM OF SYNTHESIS OF MOTION CONTROL OF WALKING ORTHOGONAL DRIVER
The way of synthesis of controlling for the movements of legged mover on the basis of the solution of the inverse problem is described in the article. The approach is based on the generation of the commands for the controlling system during the solution of the inverse problem in real-time mode. The way of integration of the mathematical core in the controlling system and the way of definition of mathematical model for the inverse problem of dynamics of a legged machine with orthogonal mover are presented. Both the results of numerical modeling and the comparison of the results of computer-simulated and experimental data are shown.