Two model types of the same closed kinematic chain were created: a regular model, driven by angles time histories, and a modified model, driven by linear coordinates’ time histories. Comparison of the movement simulation results produced by these models had shown that it is possible to derive the same output from both models. However, simulation process with the regular model in some cases required additional constraints to be put on joints’ output angles in order to obtain realistic movements of the human body. In such instance the modified model appeared to be more suitable for the simulation task. It was necessary to use custom joints for the modified model, as simple translational joints would not allow producing the necessary range of movements.