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Chernousko, F.L., Bolotnik, N.N., and Gradetsky, V.G., Manipulation Robots Dynamics, Control, and Optimization, CRC Press, Boca Raton, 1993.

has been cited by the following article:

Article

Control Processes Optimization for Mechanical Systems with Active, Semi-Passive and Passive Actuators

1Department of Nonlinear Mathematical Analysis, Pidstryhach Institute for Applied Problems of Mechanics and Mathematics National Academy of Sciences of Ukraine, Lviv, Ukraine


Applied Mathematics and Physics. 2013, Vol. 1 No. 4, 147-150
DOI: 10.12691/amp-1-4-8
Copyright © 2013 Science and Education Publishing

Cite this paper:
Olexandr Polishchuk. Control Processes Optimization for Mechanical Systems with Active, Semi-Passive and Passive Actuators. Applied Mathematics and Physics. 2013; 1(4):147-150. doi: 10.12691/amp-1-4-8.

Correspondence to: Olexandr  Polishchuk, Department of Nonlinear Mathematical Analysis, Pidstryhach Institute for Applied Problems of Mechanics and Mathematics National Academy of Sciences of Ukraine, Lviv, Ukraine. Email: od_polishchuk@mail.ru

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.

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