[robotics-worldwide] [meetings] 2014 CISM Course: SINGULAR CONFIGURATIONS OF MECHANISMS AND MANIPULATORS

Andreas Müller mueller.muller at googlemail.com
Tue Aug 26 08:33:30 PDT 2014


Still time to register for a special event, to beheld at CISM, the 
International Centre for Mechanical Sciences, in Udine, Italy:

*CISM Advanced CourseSingular Configurations of Mechanisms and Manipulators
22 - 26 September 2014*
http://www.cism.it/courses/C1413

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 coorganized 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 
algebraic geometry based methods

Lecturers:
.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 you in Udine this September.

Best regards,

Dimiter Zlatanov, Andreas Müller



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