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

Dimiter Zlatanov zlatanov at dimec.unige.it
Wed Apr 23 23:33:13 PDT 2014

Dear colleagues,


We are pleased to invite participants to:


The Fifth International Summer School on


Screw-Theory Based Methods in Robotics


3 -- 11 September 2014


University of Bologna, Bologna, Italy





For its fifth edition, our summer school on screw theory comes

to the world's oldest university. The enthusiastic feedback

from each of the first four very successful Summer Screws

events (in Genoa, Italy, in Shanghai, China, again in Genoa,

and in Florianopolis, Brazil) proves that this initiative

continues to provide a service that the robotics community

values. This year, with the support of our sponsors, we will

again be able to offer financial support to some participants.


Summer Screws 2014 will gather six experts in the robotics

applications of screw theory and up to 40 participants at the

University of Bologna from 3 to 11 September. 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 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)


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)


Marco Carricato will be this year's invited lecturer, with a

talk about persistent screw systems.


Up to 40 registrations are available at the price of 300 Euro,

no later than 31 June, 2014. Scholarship applications will be

accepted until 1 June, 2014. For details, see the registration

page, http://summerscrews2014.ing.unibo.it/registration.html,

of the University of Bologna's Summer Screws site,


Summer Screws 2014 is organized by the Group of Robotics and

Articular Biomechanics (GRAB), at the Department of Industrial

Engineering of the University of Bologna, Italy, and the

Laboratory of Design and Measurement for Automation and

Robotics (PMAR), at the Department of Mechanical, Energy,

Industrial, and Transport Engineering of the University of

Genoa, Italy. It is endorsed by IFToMM, the Robotics and

Automation Society of the IEEE, the Italian Robotics and

Automation Association (SIRI), the Bologna Society of

Engineers, and the City of Bologna. We acknowledge the

financial support of IMA Industries, the Department of

Industrial Engineering and the School of Engineering and

Architecture of the University of Bologna, as well as of the

IFToMM Young Delegates Program.


For more information visit the School's web pages:





Sincerely yours,


Dimiter Zlatanov, Marco Carricato, Vincenzo Parenti-Castelli,

Matteo Zoppi, and Rezia Molfino

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