文档介绍：Wel di ng Robot sJ. Norberto Pires, Altino Loureiro andGunnar B?lmsjoWelding RobotsTechnology, SystemIssues and ApplicationsWith 88 Figures123J. Norberto Pires, PhDAltino Loureiro, PhDMechanical Engineering DepartmentRobotics LaboratoryUniversity of CoimbraPolo II Campus3030 CoimbraPortugalGunnar B?lmsjo, PhDMechanical Engineering DepartmentLund Institute of TechnologySwedenBritish Library Cataloguing in Publication DataPires, J. NorbertoWelding robots : technology, systems issues and applications1. Welding - Automation 2. RobotsI. Title II. Loureiro, Altino III. Bolmsjo, ’2ISBN-10: 1852339535Library of Congress Control Number: 2005933476ISBN-10: 1-85233-953-5 e-ISBN 1-84628-191-1 Printed on acid-free paperISBN-13: 978-1-85233-953-1?Springer-Verlag London Limited 2006Apart from any fair dealing for the purposes of research or private study, or criticism or review, aspermitted underthe Copyright, Designs andPatents Act 1988, this publicationmay only be reproduced,stored or transmitted, in any form or by any means, with the prior permission in writing of thepublishers, or in the case of reprographic reproduction in accordance with the terms of licences issuedby the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should besent to the use of registered names, trademarks, etc. in this publication does not imply, even in the absence ofa speci?c statement, that such names are exempt fromthe relevant laws and regulations and thereforefree for general publisher makes no representation, express or implied, with regard to the accuracy of the infor-mation contained in this book and cannot accept any legal responsibility or liability for any errors oromissions that may be in Germany987654321Springer Science+Business Dedicated to the memory of my father Joaquim and to Dina, Rita, Beatriz and Olímpia. J. Norberto Pires Dedicated to my wife Marília and my sons André and Joana Altino Loureiro Dedicated