concept of Planning and Control

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Motion Planning and Controlling Algorithm for Grasping and Manipulating Moving Objects in the Presence of Obstacles Ali Chaabani1, Mohamed Sahbi Bellamine2 and Moncef Gasmi3 1National School of Engineering of Tunis, University of Manar, TUNISIA 2,3Computer Laboratory for Industrial Systems, National Institute of Applied Sciences and Technology, University of Carthage, TUNISIA

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Pathways to Higher Education ProjectCenter for Advancement of PostgraduateStudies and Research in Engineering Sciences,Faculty of Engineering - Cairo University(CAPSCU)PlanningandControllingProf. Dr. Kamel Ali OmranPlanningandControllingbyProf. Dr. Kamel Ali OmranProfessor of Human ResourcesFaculty of Commerce Cairo UniversityCairo2005Planning and ControllingFirst Published 2005Published by Center for Advancement of Postgraduate Studies and Researchin Engineering Sciences, Faculty of Engineering - Cairo University (CAPSCU)Tel: (+202) 5716620, (+202) 5678216Fax: (+202) 5703620Web-site: www.capscu.comE-mail: capscu@tedata.net.egDeposit No. 2371/2005ISBN 977-223-954-XAll Rights reserved. No part of this publication may be reproduced, stored in aretrieval system, or transmitted in any form or by any means; electronic,mechanical, photocopying, recording, or otherwise, without the prior writtenpermission of the publisher.Publisher IntroductionThe Faculty of Engineering, Cairo University is a pioneer in the field of learning andcontinual education and training. The Center for Advancement of Postgraduate Studiesand Research in Engineering Sciences, Faculty of Engineering - Cairo University(CAPSCU) is one of the pillars of the scientific research centers in the Faculty ofEngineering. CAPSCU was established in 1974 in cooperation with UNIDO andUNESCO organizations of the United Nations. Since 1984, CAPSCU has beenoperating as a self-

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