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Simulation-based analysis of a linear switched system based on human arm's dynamics

机译：基于人臂动态的线性交换系统的仿真分析

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The article outlines the process of developing a mathematical model of the human arm. The model arm consists of two joints connected by the rotational link. Each of them is represented as a truncated cone prism which changes its shape during motion. The shape change instant depends on the two-state coordinates being the angular displacements q_1 and q_2. Based on the analysis of the arm motion a mathematical model is proposed. The design process is made on the basis of switched systems theory. We present a transition from the general equation of a two-link arm's dynamics to the state equation for stationary linear models. Based on previous step a mathematical model is presented as a switched linear system. The article also shows that the dependency of the switching rule on the two components of the state vector.
机译：本文概述了开发人臂数学模型的过程。 模型臂由旋转链路连接的两个接头组成。 它们中的每一个被表示为截短的锥形棱镜，其在运动期间改变其形状。 形状变化瞬间取决于两个状态坐标是角位移Q_1和Q_2。 基于对臂运动的分析，提出了数学模型。 设计过程是在交换系统理论的基础上进行的。 我们从两连杆ARM动态的一般方程到静止线性模型的状态方程呈现过渡。 基于前一步骤，将数学模型作为交换线性系统呈现。 本文还示出了切换规则对状态向量的两个组件的依赖性。

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