@article{amp2013148,
author={Polishchuk, Olexandr},
title={Control Processes Optimization for Mechanical Systems with Active, Semi-Passive and Passive Actuators},
journal={Applied Mathematics and Physics},
volume={1},
number={4},
pages={147--150},
year={2013},
url={http://pubs.sciepub.com/amp/1/4/8},
abstract={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.},
doi={10.12691/amp-1-4-8}
publisher={Science and Education Publishing}
}