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1、CISMCoursesandLecturesSeriesEditors:TheRectorsFriedrichPfeiffer-MunichFranzG.Rammerstorfer-WienJeanSalençon-PalaiseauTheSecretaryGeneralBernhardSchrefler-PaduaExecutiveEditorPaoloSerafini-UdineTheseriespresentslecturenotes,monographs,editedworksandproceedingsinthefieldofMechanics,Engin
2、eering,ComputerScienceandAppliedMathematics.PurposeoftheseriesistomakeknownintheinternationalscientificandtechnicalcommunityresultsobtainedinsomeoftheactivitiesorganizedbyCISM,theInternationalCentreforMechanicalSciences.InternationalCentreforMechanicalSciencesCoursesandLecturesVol.544F
3、orfurthervolumes:www.springer.com/series/76VincentPadois·PhilippeBidaud·OussamaKhatibEditorsRomansy19-RobotDesign,DynamicsandControlProceedingsofthe19thCISM-IftommSymposiumEditorsVincentPadoisUniversitéPierreEtMarieCuriePhilippeBidaudUniversitéPierreEtMarieCurieOussamaKhatibStanfordUni
4、versityISSN0254-1971ISBN978-3-7091-1378-3ISBN978-3-7091-1379-0(eBook)DOI10.1007/978-3-7091-1379-0SpringerWienHeidelbergNewYorkDordrechtLondon©CISM,Udine2013Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartofthematerialisconcerned,specificallytheright
5、softranslation,reprinting,reuseofillustrations,recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodologynowknownorhereafterdeveloped.Ex-emptedfromthisl
6、egalreservationarebriefexcerptsinconnectionwithreviewsorscholarlyanalysisormaterialsuppliedspecificallyforthepurposeofbeingenteredandexecutedonacomputersystem,forexclusiveusebythepurchaserofthework.Duplicationofthispub-licationorpartsthereofispermittedonlyundertheprovisionsoftheCopyrig
7、htLawofthePublisher’slocation,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.PermissionsforusemaybeobtainedthroughRightsLinkattheCopyrightClearanceCenter.ViolationsareliabletoprosecutionundertherespectiveCopyrightLaw.Theuseofgeneraldescriptivenames,registered
