Let the "name" in the url be irrelevant. Build your links so that there is a unique identifier in the url that takes you to the page you want that will never change. Then the name can change frequently without breaking links.
In practice, I use a slight enhancement. Not only does the url contain the ID to the element, but changing a part of it can tell the site how to display the data.
If the latter two URLs were redirections to the first one, that issue would be fixed. But then the human readable parts wouldn't appear in the browser's URL line anymore.
If you're at all interested in getting users to click on links to your site, then you need to make the url relevant. All the discussion of unique ids and other parts is for technical types who want to split definitions. If you are after traffic, whether, search, referral or text advertising (adwords) then you'll want a short, concise Url that closely matches what the searcher wants. Click through rates for adwords where the url matches the search term can be twice as high as when they don't match.
Rightly or wrongly, the average internet user equates the Url as a strong indicator of the content on a page. Google follows what people do, so they weight it highly as well.
So if you have an album like this: http://albumsite.com/albums/1/This_Great_Album and the name changes to This great cd, then the url becomes http://albumsite.com/albums/1/This_Great_cd and both links continue to work forever. Where the unique identifier in this case is 1.
Of course that makes users have to know what the unique ID is, but you can put the permalink on the page.