BEGIN:VCALENDAR VERSION:2.0 PRODID:-//jEvents 2.0 for Joomla//EN CALSCALE:GREGORIAN METHOD:PUBLISH BEGIN:VEVENT UID:a023c51b208b7bcf536f51659bb01853 CATEGORIES:Lectures & Presentations CREATED:20190108T230704 SUMMARY:Summer School on Singularities of Mechanisms and Robotic Manipulators (SIMERO 2019) LOCATION:Institute of Robotics\, Johannes Kepler University Linz\, Austria DESCRIPTION:Motivation and AimsSingularity analysis is a central topic of mechanism and robot kinematics. It provides an insight of major practical and theoretica l importance for the design, control, and application of robot manipulators . In special configurations, known as singularities, the kinetostatic prope rties of a mechanism undergo sudden and dramatic change. Hence the enormous practical value of the careful study and thorough understanding of the phe nomenon for the design and use of manipulators. The key role played by kine matic singularities in mechanism theory is analogous to, and in fact a cons equence of, the critical importance of singularity in algebraic geometry an d in the theory of differentiable mappings.\nThe purpose of the course is t o introduce attendees to milestone results, key methods, and main problems in singularity analysis. The lectures provide a wide overview of cutting-ed ge work in this very active area of robotics research and focus in more det ail on a few advanced topics of significant practical and theoretical value . The course is sequentially divided into five parts, presented by five lec turers. Each part contains lectures on several closely related topics. Howe ver, connections are also made between the parts and common themes are iden tified and explored from different viewpoints. This reinforces both learnin g about the phenomena and an understanding for their importance, while prov iding the participants with varied conceptual and methodological tools appl icable to the problems at hand.\n Main ThemesDefinition. Given the importan ce of kinematic singularity and the vast literature on the subject it may b e surprising that one rarely encounters a clear general definition of the p henomenon. To provide one is the course’s first objective: singularity is d efined rigorously and in simple terms.\nClassification. Numerous singularit y classifications exist. Since singularity is defined via instantaneous kin ematics, the most fundamental taxonomy describes the types of degeneracy of the forward and inverse velocity problems. Finer distinctions exist for sp ecific mechanism types, e.g., the important constraint singularities of par allel manipulators. When non-instantaneous properties are considered, other distinctions arise, such as between cusp-like and fold-like singularities, or the existence of self-motions.\nIdentification. One of the most practic ally-important problems of kinematic analysis is the explicit calculation o f the singularity set. Two general methods using numerical partitioning of the ambient parameter space are outlined. A powerful approach for formulat ing and solving symbolically the algebraic equations of the end-effector’s motion-pattern and singular-poses set is studied in detail.\nAvoidance. The course explores the possibility of a singularity-free workspace and the ab ility to escape from singularity, issues of major practical importance for the design of path planning algorithms and singularity consistent control s chemes.\nSingularity-set and configuration-space topology. The singularity- free-connectivity properties of the configuration space are discussed, incl uding the fascinating cuspidal manipulators, able to change posture while a voiding singularities. Related fundamental problems of genericity and confi guration-space and singularity-set topology are explored. We examine the po ssibility of multiple operation modes, sometimes with strikingly different platform motion patterns, connected by constraint singularities.\nMathemati cal tools and formalisms. The course is a hands-on introduction to the vari ous analytical and computational tools for dealing with singularities. We e xplore screw-geometrical techniques and Lie-group-based local-analysis meth ods. Algebraic-geometry formulations combined with either symbolic computat ion or numerical methods (linear relaxations and interval analysis) are use d. Topology and differential geometry provide the basis for the definitions and formulations throughout the course.\n Intended AudienceThe course deli vers a comprehensive overview of singular phenomena in robots and mechanism s, and hence will be particularly attractive to doctoral students and young researchers in robotics, mechanical engineering, or applied mathematics. T he advanced topics and the presentation of current progress in this very ac tive field will also be of considerable interest to many senior researchers . The inescapable centrality of robot singularity in practical robot use an d programming determines the value of the course material to robotics exper ts from industry.\n List of Lecturers (confirmed)\n - Oriol Bohigas\n Beta Robots, Barcelona, Spain\n - Peter Donelan\n Victoria University of Welling ton, New Zealand\n - Manfred Husty\n University of Innsbruck, Austria\n - A ndreas Müller\n Institute of Robotics, Johannes Kepler University Linz, Aus tria\n - Philippe Wenger\n IRCCyN, CNRS and École Centrale de Nantes, Franc e\n - Dimiter Zlatanov\n University of Genoa, ItalyMore InformationFurther information can be found here: https://www.simero.org/\n X-ALT-DESC;FMTTYPE=text/html:
Singularity analysis is a c entral topic of mechanism and robot kinematics. It provides an insight of m ajor practical and theoretical importance for the design, control, and appl ication of robot manipulators. In special configurations, known as singular ities, the kinetostatic properties of a mechanism undergo sudden and dramat ic change. Hence the enormous practical value of the careful study and thor ough understanding of the phenomenon for the design and use of manipulators . The key role played by kinematic singularities in mechanism theory is ana logous to, and in fact a consequence of, the critical importance of singula rity in algebraic geometry and in the theory of differentiable mappings.
The purpose of the course is to introduce attendees to milestone result s, key methods, and main problems in singularity analysis. The lectures pro vide a wide overview of cutting-edge work in this very active area of robot ics research and focus in more detail on a few advanced topics of significa nt practical and theoretical value. The course is sequentially divided into five parts, presented by five lecturers. Each part contains lectu res on several closely related topics. However, connections are al so made between the parts and common themes are identified and exp lored from different viewpoints. This reinforces both learning about the ph enomena and an understanding for their importance, while providing the part icipants with varied conceptual and methodological tools applicable to the problems at hand.
D efinition. Given the importance of kinematic singularity and the vast literature on the subject it may be surprising that one rarely enc ounters a clear general definition of the phenomenon. To provide one is the course’s first objective: singularity is defined rigorously and in simple terms.
Classification. Num erous singularity classifications exist. Since singularity is defined via i nstantaneous kinematics, the most fundamental taxonomy describes the types of degeneracy of the forward and inverse velocity problems. Finer distincti ons exist for specific mechanism types, e.g., the important constraint sing ularities of parallel manipulators. When non-instantaneous properties are c onsidered, other distinctions arise, such as between cusp-like and fold-lik e singularities, or the existence of self-motions.
Identi fication. One of the most practically-important problems of k inematic analysis is the explicit calculation of the singularity set. Two g eneral methods using numerical partitioning of the ambient parameter space are outlined. A powerful approach for formulating and solving symbolically the algebraic equations of the end-effector’s motion-pattern and singular- poses set is studied in detail.
Avoidance. The course explores the possibility of a singularity-free workspace and the ability to escape from singularity, issues of major practical importance f or the design of path planning algorithms and singularity consistent contro l schemes.
Singularity-set and configuration-space topolo gy. The singularity-free-connectivity properties of the confi guration space are discussed, including the fascinating cuspidal manipulato rs, able to change posture while avoiding singularities. Related fundamenta l problems of genericity and configuration-space and singularity-set topolo gy are explored. We examine the possibility of multiple operation modes, so metimes with strikingly different platform motion patterns, connected by co nstraint singularities.
Mathematical tools and formalisms . The course is a hands-on introduction to the various analyt ical and computational tools for dealing with singularities. We explore scr ew-geometrical techniques and Lie-group-based local-analysis methods. Algeb raic-geometry formulations combined with either symbolic computation or num erical methods (linear relaxations and interval analysis) are used. Topolog y and differential geometry provide the basis for the definitions and formu lations throughout the course.
The course delivers a comprehensive overview of singular phenomena in robots and mechanisms, and hence will be particularly attractive to do ctoral students and young researchers in robotics, mechanical engineering, or applied mathematics. The advanced topics and the presentat ion of current progress in this very active field will also be of considera ble interest to many senior researchers. The inescapable centralit y of robot singularity in practical robot use and programming determines th e value of the course material to robotics experts from industry.< /p>
Furt her information can be found here: https: //www.simero.org/
CONTACT:Andreas Müller (This email address is being protected from spambots. You need JavaScript enabled to view it. document.getElementById('cloakfa58637870c2802b44983e528a279e7b').innerHTML = ''; var prefix = 'ma' + 'il' + 'to'; var path = 'hr' + 'ef' + '='; var addyfa58637870c2802b44983e528a279e7b = 'a.mueller' + '@'; addyfa58637870c2802b44983e528a279e7b = addyfa58637870c2802b44983e528a279e7b + 'jku' + '.' + 'at'; var addy_textfa58637870c2802b44983e528a279e7b = 'a.mueller' + '@' + 'jku' + '.' + 'at';document.getElementById('cloakfa58637870c2802b44983e528a279e7b').innerHTML += ''+addy_textfa58637870c2802b44983e528a279e7b+''; ) X-EXTRAINFO:8/30 DTSTAMP:20240329T162413 DTSTART;VALUE=DATE:20190729 DTEND;VALUE=DATE:20190803 SEQUENCE:0 TRANSP:OPAQUE END:VEVENT END:VCALENDAR