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

Olexandr Polishchuk^1,

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

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

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.

Keywords:
two-link manipulator control optimization passive actuator

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