[Mathematical modeling of the dynamics of biokinematic chains]. / Nekotorye voprosy matematicheskogo modelirovaniia dinamiki biokinematicheskikh tsepei

The method of mathematical modelling of the dynamics of biokinematic chains based on the application of Lagrange equations is considered. An algorythm of determining articulate moments in the matrix form. As an example of the biokinematic chain a model of man's upper extremity is considered. Correctness of the model and of the system of differential equations describing its dynamics is proved experimentally.