Underactuated Robot Manipulators

  • Adriano A. G. Siqueira
  • Marco H. Terra
  • Marcel Bergerman


In this chapter we present the application of the \({\mathcal{H}}_{\infty}\) and adaptive \({\mathcal{H}}_{\infty}\) control methodologies to underactuated robotic manipulators, or manipulators with more joints than actuators. We begin by presenting a taxonomy to classify the different types of underactuation. Next, we present both model-based and non-model-based controller design approaches that guarantee robustness while the manipulator follows a desired trajectory.


Active Joint Linear Matrix Inequality Control Phase Adaptive Controller Control Joint 
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Copyright information

© Springer-Verlag London Limited 2011

Authors and Affiliations

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

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