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Table of Contents
1. Introduction
2. Modeling and Characteristics Analysis of Underactuated Manipulators
3. Control of Vertical Underactuated Manipulator
4. Control of Planar Manipulator with a Passive First Joint
5. Control of Planar Underactuated Manipulator with an Active First Joint.
2. Modeling and Characteristics Analysis of Underactuated Manipulators
3. Control of Vertical Underactuated Manipulator
4. Control of Planar Manipulator with a Passive First Joint
5. Control of Planar Underactuated Manipulator with an Active First Joint.