Experimental Set Up

  • Adriano A. G. Siqueira
  • Marco H. Terra
  • Marcel BergermanEmail author


This chapter describes the main features of the underactuted manipulators we use to validate the control approaches proposed throughout the book. It describes also a control environment for robots which we use to simulate the controllers and to operate the manipulators.


Joint Position Initial Angle Torque Vector Invalid Data Meaningful Manipulation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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    Craig JJ (1986) Introduction to robotics: mechanics and control. Addison-Wesley, Reading, MAGoogle Scholar
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    Lewis FL, Abdallah CT, Dawson DM (2004) Robot manipulator control: theory and practice. Marcel Dekker Inc, New YorkGoogle Scholar

Copyright information

© Springer-Verlag London Limited 2011

Authors and Affiliations

  • Adriano A. G. Siqueira
    • 1
  • Marco H. Terra
    • 1
  • Marcel Bergerman
    • 2
    Email author
  1. 1.Engineering School of São CarlosUniversity of São PauloSão CarlosBrazil
  2. 2.CMU Robotics InstitutePittsburghUSA

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