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1、SpringerTractsinAdvancedRoboticsVolume3Editors:BrunoSiciliano·OussamaKhatib·FransGroenSpringerBerlinHeidelbergNewYorkHongKongLondonMilanParisTokyoCiroNataleInteractionControlofRobotManipulatorsSixdegrees-of-freedomtasksWith36Figures13ProfessorBrunoSiciliano,DipartimentodiInformatica
2、eSistemistica,Universit`adegliStudidiNapoliFedericoII,ViaClaudio21,80125Napoli,Italy,email:siciliano@unina.itProfessorOussamaKhatib,RoboticsLaboratory,DepartmentofComputerScience,StanfordUniversity,Stanford,CA94305-9010,USA,email:khatib@cs.stanford.eduProfessorFransGroen,Departmento
3、fComputerScience,UniversiteitvanAmsterdam,Kruislaan403,1098SJAmsterdam,TheNetherlands,email:groen@science.uva.nlSTAR(SpringerTractsinAdvancedRobotics)hasbeenpromotedundertheauspicesofEURON(EuropeanRoboticsResearchNetwork)AuthorDr.CiroNataleSecondaUniversit`adegliStudidiNapoliDiparti
4、mentodiIngegneriadellInformazioneViaRoma2981031Aversa(CE),ItalyISSN1610-7438ISBN3-540-00159-XSpringer-VerlagBerlinHeidelbergNewYorkCataloging-in-PublicationDataappliedforBibliographicinformationpublishedbyDieDeutscheBibliothekDieDeutscheBibliothekliststhispublicationintheDeutscheNat
5、ionalbibliogra?e;detailedbiblio-graphicdataisavailableintheInternetat.Thisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthemate-rialisconcerned,speci?callytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting,reprodu
6、ctiononmicro?lmorinotherways,andstorageindatabanks.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer-Verlag.Violationsareliableforprosecutionactu
7、nderGermanCopyrightLaw.Springer-VerlagBerlinHeidelbergNewYorkamemberofBertelsmannSpringerScience+BusinessMediaGmbHhttp://www.springer.de?Springer-VerlagBerlinHeidelberg2003PrintedinGermanyTheuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoesnotimply,ev
8、enintheabsenceofasp
