[robotics-worldwide] Summer School on Screw-Theory Based Methods in Robotics

Dimiter Zlatanov zlatanov at dimec.unige.it
Wed Feb 15 04:20:17 PST 2012

Dear colleague,


We are pleased to invite participants to:


The Third International Summer School on


Screw-Theory Based Methods in Robotics


1 -- 9 September 2012


University of Genoa, Genoa, Italy




For its third edition, Summer Screws returns to the University

of Genoa. The high attendance and the enthusiastic feedback

from the first event in Genoa and the second in Shanghai

confirmed that this initiative provides a service that the

robotics community needs and values.


Summer Screws 2012 will gather six experts in the robotics

applications of screw theory, and up to 40 participants, at the

University of Genoa during the first week of September. 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. (Lecturer: Xianwen Kong)


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



4. Mappings between screw spaces, stiffness and inertia.

Structure of robot compliance. Eigenvalue problems and

eigenscrews. Synthesis with springs. (Lecturer: Harvey



5. 6D formulation of the dynamics of individual rigid

bodies and rigid-body systems. Equations of motion.

Dynamics algorithms.(Lecturer: Roy Featherstone)


6. Basic Lie group theory, matrix representations of the

group of rigid-body displacements.  Lie algebras as

related to screw theory. The exponential map and  its

applications in modern robotics (Lecturer: Jon Selig).


Up to 40 registrations are available at the price of 180 euro,

no later than 30 June, 2012.


Summer Screws 2012 is organized by the PMARlab Robotics Group,

Department of Mechanical Engineering, Energetics,

Transportation, and Mathematical Models (DIME), University of

Genoa with the support of the Italian Institute of Technology.



For more information visit the school's web page:





Sincerely yours,


Rezia Molfino, Matteo Zoppi, Dimiter Zlatanov


P.S. We apologize if you receive more than one copy of this announcement

More information about the robotics-worldwide mailing list