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

Dimiter Zlatanov zlatanov at dimec.unige.it
Sat Apr 27 03:12:21 PDT 2013

Dear colleague,


We are pleased to invite participants to:


The Fourth International Summer School on


Screw-Theory Based Methods in Robotics


19 -- 27 October 2013


Federal University of Santa Catarina, Florianopolis, Brazil




For its fourth edition, our summer school on screw theory moves

to a new season and a new hemisphere. The enthusiastic feedback

from the first three very successful Summer Screws events (in

Genoa, in Shanghai, and again in Genoa) proves that this

initiative continues to provide a service that the robotics

community values. This year, with the support of the IEEE

Robotics and Automation Society we are able to bring the school

to a new part of the world and, for the first time, to offer

financial support to some participants.


Summer Screws 2013 (or should we call it Spring Screws) will

gather six experts in the robotics applications of screw theory

and up to 40 participants at the Federal University of Santa

Catarina, Florianopolis, Brazil from 19 to 27 October. The

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 exercises.


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 350 USD,

no later than 31 July, 2013. Scholarship applications will be

accepted until 30 June, 2013. See the Dates and Costs page at

www.summerscrews.org for details.


Summer Screws 2012 is organized by the PMARlab Robotics Group,

Department of Mechanical, Energy, Transport, and Industrial

Engineering (DIME) of the University of Genoa and the Robotics

Laboratory LAR of the Federal University of Santa Catarina,

Florianopolis, Brazil, with the support of IEEE RAS and FAPESC.



For more information visit the school's web page:





Sincerely yours,


Dimiter Zlatanov, Roberto Simoni, Matteo Zoppi, Daniel Martins,

and Rezia Molfino

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