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