eng Science and Education Publishing Applied Mathematics and Physics 2013-11-21 1 4 147 150 10.12691/amp-1-4-8 AMP2013148 article Control Processes Optimization for Mechanical Systems with Active, Semi-Passive and Passive Actuators Olexandr Polishchuk od_polishchuk@mail.ru 1 Department of Nonlinear Mathematical Analysis, Pidstryhach Institute for Applied Problems of Mechanics and Mathematics National Academy of Sciences of Ukraine, Lviv, Ukraine The influence of the geometric parameters of two-link manipulator on the energy expenditure necessary for the implementation of a given movement is investigated. It is proposed approximation-compensatory approach to replace the active actuators in the joints of the manipulator on semi-passive and entirely passive actuators. Advantages and disadvantages of such replacement are analyzed and the fields of use of such manipulators are proposed. http://pubs.sciepub.com/amp/1/4/8/amp-1-4-8.pdf two-link manipulatorcontroloptimizationpassive actuator