Science and Education Publishing Applied Mathematics and Physics 1 4 2013 11 21 Control Processes Optimization for Mechanical Systems with Active, Semi-Passive and Passive Actuators 147 150 EN Olexandr Polishchuk Department of Nonlinear Mathematical Analysis, Pidstryhach Institute for Applied Problems of Mechanics and Mathematics National Academy of Sciences of Ukraine, Lviv, Ukraine AMP2013148 10.12691/amp-1-4-8 2013 10 07 2013 10 15 2013 11 21 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.