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1、LectureNotesinControlandInformationSciences422Editors:M.Thoma,F.Allgöwer,M.MorariKrzysztofR.Kozłowski(Ed.)RobotMotionandControl2011ABCSeriesAdvisoryBoardP.Fleming,P.Kokotovic,A.B.Kurzhanski,H.Kwakernaak,A.Rantzer,J.N.TsitsiklisEditorKrzysztofR.KozłowskiPoznanUniversityo
2、fTechnology´InstituteofControlandSystemsEngineeringul.Piotrowo3a60-965Poznan´PolandE-mail:krzysztof.kozlowski@put.poznan.plISBN978-1-4471-2342-2e-ISBN978-1-4471-2343-9DOI10.1007/978-1-4471-2343-9LectureNotesinControlandInformationSciencesISSN0170-8643LibraryofCongressCo
3、ntrolNumber:2011941381c2012Springer-VerlagLondonLimitedThisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthemate-rialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting,reproductiononmicrofilmorina
4、nyotherway,andstorageindatabanks.Dupli-cationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.ViolationsareliabletoprosecutionundertheGermanCo
5、pyrightLaw.Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.TypesetbyScientificPublishingService
6、sPvt.Ltd.,Chennai,India.Printedonacid-freepaper987654321springer.comPrefaceThemainobjectiveofpublishingthiscollectionofpapersistopresentthemostrecentresultsconcerningrobotmotionandcontroltotheroboticscommunity.Thirtyoneoriginalworkshavebeenselectedoutof39paperssubmitted
7、totheEighthInter-nationalWorkshoponRobotMotionandControl(RoMoCo’11),BukowyDworek,Poland,June15to17,2011.ThisWorkshopistheeighthintheseriesoftheRo-MoCoWorkshops(thepreviousoneswereheldin1999,2001,2002,2004,2005,2007,and2009).Itisaninternationallyrecognizedevent,technical
8、lyco-sponsoredbytheIEEERoboticsandAutomationSocietyandtheIEEEControlSystemsSo-ciety.TheWorkshopisorganizedbyth
