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We consider the movement of a robot consisting of two sections hingedly connected to each other by an actuator. The quasi-translational motion of robot sections is studied, characterized by the minimum standard deviation of their geometric centers from the horizontal OX axis. Optimality is assessed by a criterion consisting of two indicators: the minimum energy spent on accelerating each section and the minimum root-mean-square angles of their rotation.
PROKOPOV et al. (Sun,) studied this question.
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