Geodesic
On the one test to the minimax synthesis of the technical systems
Matematičeskoe modelirovanie, Tome 3 (1991) no. 1, pp. 107-114.

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Well known optimization problem is considered connecting with parameters optimation plane $n$-link manipulator to respect the criterion of minimum forces to the equalisation of weight forces. There are results of testing. These results would be apply to the minimax synthesis testing of technical systems. 
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     author = {U. V. Volkov and A. G. Perevozchikov},
     title = {On the one test to the minimax synthesis of the technical systems},
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U. V. Volkov; A. G. Perevozchikov. On the one test to the minimax synthesis of the technical systems. Matematičeskoe modelirovanie, Tome 3 (1991) no. 1, pp. 107-114. http://geodesic.mathdoc.fr/item/MM_1991_3_1_a11/