[robotics-worldwide] [meetings] Summer School on SINGULAR CONFIGURATIONS OF MECHANISMS AND MANIPULATORS

Dimiter Zlatanov zlatanov at dimec.unige.it
Fri Aug 8 07:26:47 PDT 2014

Dear colleagues,


We are pleased to invite participants to a special event, to be

held at CISM, the International Centre for Mechanical Sciences,

in Udine, Italy:


CISM Advanced Course

Singular Configurations of Mechanisms and Manipulators

22 -- 26 September 2014



The world-renowned curriculum of CISM advanced courses in

mechanics offers few subjects in robotics. In 2014, we are

proud to be able to include a summer school on singularities of

mechanisms and manipulators in this exclusive list.


The International Centre for Mechanical Sciences (CISM) is well

known in our community for its historical role as a

co-organized and supporter of the oldest robotics international

conference in robotics, Romansy. Under these auspices, it is an

honor for us to organize, and a rare opportunity for all to

participate, in what we are confident will be a robotics

meeting of the highest quality.


The course will bring together five experts in mechanism design

and robot kinematics, and up to 40 other participants at the

International Centre for Mechanical Sciences (CISM) in Udine,

Italy. Our lecturers have played key roles (often in

collaborations with each-other and with others) in the shaping

of the state of the art of the theoretical knowledge on

mechanism singularities and have extensive experience in

dealing with the problems posed by singularities in the

practical design, control, and operation of robotic systems.

Moreover, they know well each-other's work and the one-week

event will provide a unique opportunity to have them discuss

the key issues in depth and elucidate results and methods from

various viewpoints.


The subject of mechanism singularities links in a unique way

the mathematical and the applied aspects of robotics research

and design. In singular configurations, the kinetostatic

properties of mechanisms undergo sudden and dramatic changes.

Hence the enormous practical value of singularity analysis for

manipulator design and use. Its theoretical importance stems

from the critical role singularity plays in algebraic geometry

and in the theory of differentiable mappings.


Attendees will be introduced to milestone results, key methods,

and central problems in singularity analysis. The lectures will

provide an overview of cutting-edge work and focus on a few

advanced topics and computational techniques. Multiple examples

and exercises, including hands-on programming (in Maple and

Matlab), will help participants learn, understand, and relate

the material to their own research.


The course will address the following themes and topics, each

developed by several lecturers and from various perspectives:


•Definition: rigorous definition of singularities

•Classification: types of degeneracy of the kinematics,

constraint singularities, cusp-like and fold-like singularities

•Identification: calculation of the singularity set, numerical

partitioning of the ambient parameter space •Avoidance:

•Escapements, singularity-free workspace

•Singularity-set and configuration-space topology

•Mathematical tools and formalisms: screw-geometrical,

Lie group and algebrai geometry based methods




•Manfred Husty (University Innsbruck, Austria)

•Jean Pierre Merlet (INRIA, Sophia Antipolis, France)

•Andreas Müller ( Shanghai Jiao Tong University, China)

•Philippe Wenger (IRCCyN, École Centrale de Nantes, France)

•Dimiter Zlatanov (Università di Genova, Italy)


To register, visit http://www.cism.it/courses/C1413. Please, do

not hesitate to contact us if you need more information. We are

looking forward to seeing many among you and your collaborators

in Udine this September.


Sincerely yours,


Dimiter Zlatanov, Andreas Müller

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