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1、LectureNotesinControlandInformationSciences316Editors:M.Thoma·M.MorariR.V.PatelF.ShadpeyControlofRedundantRobotManipulatorsTheoryandExperimentsWith94FiguresSeriesAdvisoryBoardF.Allg¨ower·P.Fleming·P.Kokotovic·A.B.Kurzhanski·H.Kwakernaak·A.Rantzer·J.N.TsitsiklisA
2、uthorsProf.R.V.PatelUniversityofWesternOntarioDepartmentofElectrical&ComputerEngineering1151RichmondStreetNorthLondon,OntarioCanadaN6A5B9Dr.F.ShadpeyBombardierInc.CanadairDivision1800MarcelLaurinSt.Laurent,QuebecCanadaH4R1K2ISSN0170-8643ISBN-103-540-25071-9Spring
3、erBerlinHeidelbergNewYorkISBN-13978-3-540-25071-5SpringerBerlinHeidelbergNewYorkLibraryofCongressControlNumber:2005923294Thisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthemate-rialisconcerned,speci?callytherightsoftranslation,reprinting,
4、reuseofillustrations,recitation,broadcasting,reproductiononmicro?lmorinotherways,andstorageindatabanks.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemusta
5、lwaysbeobtainedfromSpringer-Verlag.ViolationsareliabletoprosecutionunderGermanCopyrightLaw.SpringerisapartofSpringerScience+BusinessMediaspringeronline.com?Springer-VerlagBerlinHeidelberg2005PrintedinGermanyTheuseofgeneraldescriptivenames,registerednames,trademar
6、ks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspeci?cstatement,thatsuchnamesareexemptfromtherelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.Typesetting:Dataconversionbyauthor.FinalprocessingbyPTP-BerlinProtago-TEX-ProductionGmbH,German
7、yCover-Design:design&productionGmbH,HeidelbergPrintedonacid-freepaper89/3141/Yu-543210PREFACEPREFACEPREFACEPREFACEPREFACEPREFACEPREFACEToRoshniandKrishna(RVP)ToLida,RouzbehandAvesta(FS)PREFACEPREFACEPrefaceThismonographisconcernedwiththepositionandforcecontrolofr
8、edundantrobotmanipulatorsfromboththeoreticalandexperimentalpointsofview.Althoughpositionandforcecontrolofrobotmanipulatorshasbeenanareaofresearchinterestforove
