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1、LectureNotesinControlandInformationSciences229Editor:M.ThomaJ.-P.Laumond(Ed.)RobotMotionPlanningandControliI/~SpringerSeriesAdvisoryBoardA.BensoussanM.J.GrimbleP.Kokotovic.H.KwakernaakJ.L.MasseyY.Z.TsypkinEditorDrJ.-P.LaumondCentreNationaldelaRechercheScientifiqueLaboratoired'Analys
2、eetd'ArchitecturedesSystemes7,avenueduColonelRoche31077ToulouseCedexFRANCEISBN3-540-76219-1Springer-VerlagBerlinHeidelbergNewYorkBritishLibraryCataloguinginPublicationDataRobotmotionplanningandcontrol.-(Lecturenotesincontrolandinformationsciences;229)1.Robots-Motion2.Robots-Controls
3、ystemsI.Laumond,J.-P.629.8'92ISBN35400762191LibraryofCongressCataloging-in-PublicationDataRobotmotionplanningandcontrol./J.-P.Laumond(ed.).p.crr~--(Lecturenotesincontrolandinformationsciences;229)Includesbibliographicalreferences.ISBN3-540-76219-1(pbk.:alk,paper)1.Robots--Motion.2.R
4、obots--Controlsystems.LLaumond,J.-P.(Jean-Paul)ILSeriesTJ211.4.R63199897-40560629.8'92--dc21CIPApartfromanyfairdealingforthepurposesofresearchorprivatestudy,orcriticismorreview,aspermittedundertheCopyright,DesignsandPatentsAct19S8,thispublicationmayonlybereproduced,storedortransmitt
5、ed,inanyformorbyanymeans,withthepriorpermissioninwritingofthepublishers,orinthecaseofreprographicreproductioninaccordancewiththetermsoflicencesissuedbytheCopyrightLicensingAgency.Enquiriesconcerningreproductionoutsidethosetermsshouldbesenttothepublishers.Springer-VerlagLondonLimited
6、1998PrintedinGreatBritainTheuseofregisterednames,trademarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantlawsandregulationsandthereforefreeforgeneraluse.Thepublishermakesnorepresentation,expressorimplied,withregardtothea
7、ccuracyoftheinformationcontainedinthisbookandcannotacceptanylegalresponsibilityorliabilityforanyerrorsoromissionsthatmaybemade.Typesetting:CamerareadybyeditorPrintedandboundattheAthenaeumPressLtd,Gateshead6913830-543210Printedonacid-freepaperForewordHowcanarobotdecidewhatmotionstope
8、rforminordertoachie
