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1、MechanismsandMachineScienceGiuseppeCarboneFernandoGomez-BarvoEditorsMotionandOperationPlanningofRoboticSystemsBackgroundandPracticalApproachesMechanismsandMachineScienceVolume29SerieseditorMarcoCeccarelli,Cassino,ItalyMoreinformationaboutthisseriesathttp://www.springer.com/series/8779Giusepp
2、eCarbone?FernandoGomez-BarvoEditorsMotionandOperationPlanningofRoboticSystemsBackgroundandPracticalApproaches123EditorsGiuseppeCarboneFernandoGomez-BarvoUniversityofCassinoEngineeringSchoolCassino,FrosinoneUniversityofHuelvaItalyLaRábida,HuelvaSpainISSN2211-0984ISSN2211-0992(electronic)Mecha
3、nismsandMachineScienceISBN978-3-319-14704-8ISBN978-3-319-14705-5(eBook)DOI10.1007/978-3-319-14705-5LibraryofCongressControlNumber:2015932073SpringerChamHeidelbergNewYorkDordrechtLondon?SpringerInternationalPublishingSwitzerland2015Thisworkissubjecttocopyright.AllrightsarereservedbythePublish
4、er,whetherthewholeorpartofthematerialisconcerned,speci?callytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting,reproductiononmicro?lmsorinanyotherphysicalway,andtransmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimi
5、larmethodologynowknownorhereafterdeveloped.Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspeci?cstatement,thatsuchnamesareexemptfromtherelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.Thepublisher
6、,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthisbookarebelievedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinorforanyerrorsoromissionsthatmayhavebeenmade.Prin
7、tedonacid-freepaperSpringerInternationalPublishingAGSwitzerlandispartofSpringerScience+BusinessMedia(www.springer.com)PrefaceRobotmotionplanninganditsapplicationshaveattractedtheattentionoftheroboticcommunityalongthelastdecades.Thisbookisanattemptt
