Contents of Report

[Data of Report]

1	Constraint Logic Programming Experimental System CAL	.... 2
2	Application of the Greobner bases(in RISC)	.... 2
3	Programs for Handling Robots on CAL	.... 2
4	Definition of the Position and the Orientation of an object	.... 3
5	Definition of the position and Orientation Matrix	.... 3
6	The Transformation of the Position and Orientation	.... 4
7	Kinematics of Handling Robots	.... 4
8	Static Dynamics of Handling Robots	.... 5
9	The Program for Kinematics	.... 5
10	Vector Sketch of a robot	.... 6
11	example1	.... 6
12	example2	.... 7
13	The Program for Static Dynamics	.... 8
14	example3	.... 8
15	table1 Total Computation Time	.... 9
16	discussion	.... 9
	Concluding Remark	.... 10
	References	.... 11
	End	.... 13

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