[robotics-worldwide] Summer School -- Screw-Theory based methods and their application in robotics

Rezia Molfino molfino at dimec.unige.it
Mon Jan 12 22:52:22 PST 2009

Dear colleague,

This is the first call for participants in the

International Summer School on

Screw-Theory Based Methods in Robotics

22-30 August 2009

University of Genoa, Italy


Summer Screws '09, as we call it informally, will gather five
experts in the robotics applications of screw-theory and up to
30 participants at the University of Genoa and the Italian
Institute of Technology during the last week of August. The
summer school will teach attendees how to apply existing
methods and empower them to develop new ones in their own
research. The basic theoretical notions will be introduced in a
rigorous manner, with emphasis on examples, applications, and

The main topics will be:

1. Basic vector-space properties of twists and wrenches:
physical interpretation of the linear operations; linear
dependence and independence, subspaces; bases and coordinates.
(Lecturer: Dimiter Zlatanov)

2. Scalar products, dual spaces, reciprocity. Constraint and
freedom in mechanisms. Constraint analysis, type synthesis of
single loop mechanisms, type synthesis of parallel
manipulators. (Lecturers: Xianwen Kong and Dimiter Zlatanov)

3. Velocity and singularity analysis of parallel and
interconnected-chain mechanisms. Derivation of input-output
velocity equations and singularity conditions. (Lecturers:
Matteo Zoppi and Dimiter Zlatanov)

4. Mappings between screw spaces, stiffness and inertia.
Structure of robot compliance. Eigenvalue problems and
eigenscrews. Synthesis with springs. (Lecturer: Harvey Lipkin)

5. 6D formulation of the dynamics of individual rigid bodies
and rigid-body systems. Equations of motion. Dynamics
algorithms.(Lecturer: Roy Featherstone)

Up to 30 registrations are available at the price of 300 euro,
no later than 30 May, 2009.

Summer Screws '09 is organized by the PMARlab Robotics Group,
Department of Mechanics and Machine Design (DIMEC), University
of Genoa, with the support of the Italian Instititute of
Technology (IIT) and the endorsement of the IEEE Robotics and
Automation Society and the Italian Robotics and Automation Association

For more information visit the school's web page:


Please accept our best wishes for the holiday season.

Sincerely yours,

Rezia Molfino, Matteo Zoppi, Dimiter Zlatanov

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