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

andreas-mueller andreas-mueller at uni-due.de
Wed Feb 19 12:01:51 PST 2014


___________________________________________________________________________________________

Advanced course "SINGULAR CONFIGURATIONS OF MECHANISMS AND MANIPULATORS" 

Location: CISM - International Centre for Mechanical Sciences, Udine, Italy
- www.cism.it

Dates: September 22 to 26, 2014.

http://www.cism.it/courses/C1413
___________________________________________________________________________________________


Course Overview:

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 main problems in
singularity analysis. The lectures provide an overview of cutting-edge work
and focus on a few advanced topics. 

Course Content:

- Definition, rigorous definition of singularities
- Classification, fundamental taxonomy, types of degeneracy of the forward
and inverse velocity problems, constraint singularities of parallel
manipulators, cusp-like and fold-like singularities
- Identification, calculation of the singularity set, numerical partitioning
of the ambient parameter space
- Avoidance of singularitites, escapements, workspace
- Singularity-set and configuration-space topology
- Mathematical tools and formalisms to analyse singularities in mechanisms,
screw-geometrical techniques and Lie-group-based local-analysis methods

Lecturers:

- Manfred Husty (University Innsbruck, Innsbruck, Austria)
- Jean Pierre Merlet (INRIA, Sophia Antipolis Cedex, France)
- Andreas Mueller ( Shanghai Jiao Tong University, China)
- Philippe Wenger (Institut de Recherche en Comm. et Cybernétique de Nantes,
Nantes Cedex 3, France)
- Dimiter Zlatanov (Università di Genova, Genova, Italy)


We would be grateful if you could forward this announcement to your
colleagues.


Best regards,

Dimiter Zlatanov, Andreas Müller 
- Course Coordinators -




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