Geodesic
About the spectral problem arising from robotic manipulator mechanics
Modelirovanie i analiz informacionnyh sistem, Tome 16 (2009) no. 3, pp. 22-28.

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A spectral boundary problem of special type containing a spectral parameter in the boundary condition is completely solved in this paper. The characteristic equation for spectrum points determination is obtained, the energy innerproduct is derived, and the orthonormal system of the eigenfunctions is built up.
Keywords: spectral boundary problem, eigenfunctions, eigenvalues, characteristic equation. 
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V. I. Voytitsky; M. Yu. Zlobina; E. P. Kubyshkin. About the spectral problem arising from robotic manipulator mechanics. Modelirovanie i analiz informacionnyh sistem, Tome 16 (2009) no. 3, pp. 22-28. http://geodesic.mathdoc.fr/item/MAIS_2009_16_3_a2/

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