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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;ENCODING=QUOTED-PRINTABLE:Motivation and Aims\n\nSingularity analysis is a central topic of mechanism
and robot kinematics. It provides an insight of major practical and theore
tical importance for the design, control, and application of robot manipula
tors. In special configurations, known as singularities, the kinetostatic p
roperties of a mechanism undergo sudden and dramatic change. Hence the enor
mous practical value of the careful study and thorough understanding of the
phenomenon for the design and use of manipulators. The key role played by
kinematic singularities in mechanism theory is analogous to, and in fact a
consequence of, the critical importance of singularity in algebraic geometr
y and in the theory of differentiable mappings.\n\n\nThe purpose of the cou
rse is to introduce attendees to milestone results, key methods, and main p
roblems in singularity analysis. The lectures provide a wide overview of cu
tting-edge work in this very active area of robotics research and focus in
more detail on a few advanced topics of significant practical and theoretic
al value. The course is sequentially divided into five parts, presented by
five lecturers. Each part contains lectures on several closely related topi
cs. However, connections are also made between the parts and common themes
are identified and explored from different viewpoints. This reinforces both
learning about the phenomena and an understanding for their importance, wh
ile providing the participants with varied conceptual and methodological to
ols applicable to the problems at hand.\n Main Themes\n\nDefinition. Given
the importance of kinematic singularity and the vast literature on the subj
ect it may be surprising that one rarely encounters a clear general definit
ion of the phenomenon. To provide one is the course’s first objective: sing
ularity is defined rigorously and in simple terms.\n\n\nClassification. 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.\n\n\nIdentification. One
of the most practically-important problems of kinematic analysis is the ex
plicit calculation of the singularity set. Two general methods using numeri
cal partitioning of the ambient parameter space are outlined. A powerful a
pproach for formulating and solving symbolically the algebraic equations of
the end-effector’s motion-pattern and singular-poses set is studied in det
ail.\n\n\nAvoidance. The course explores the possibility of a singularity-f
ree workspace and the ability to escape from singularity, issues of major p
ractical importance for the design of path planning algorithms and singular
ity consistent control schemes.\n\n\nSingularity-set and configuration-spac
e topology. The singularity-free-connectivity properties of the configurati
on space are discussed, including the fascinating cuspidal manipulators, ab
le to change posture while avoiding singularities. Related fundamental prob
lems of genericity and configuration-space and singularity-set topology are
explored. We examine the possibility of multiple operation modes, sometime
s with strikingly different platform motion patterns, connected by constrai
nt singularities.\n\n\nMathematical tools and formalisms. The course is a h
ands-on introduction to the various analytical and computational tools for
dealing with singularities. We explore screw-geometrical techniques and Lie
-group-based local-analysis methods. Algebraic-geometry formulations combin
ed with either symbolic computation or numerical methods (linear relaxation
s and interval analysis) are used. Topology and differential geometry provi
de the basis for the definitions and formulations throughout the course.\n
Intended Audience\n\nThe course delivers a comprehensive overview of singul
ar phenomena in robots and mechanisms, and hence will be particularly attra
ctive to doctoral students and young researchers in robotics, mechanical en
gineering, or applied mathematics. The advanced topics and the presentation
of current progress in this very active field will also be of considerable
interest to many senior researchers. The inescapable centrality of robot s
ingularity in practical robot use and programming determines the value of t
he course material to robotics experts from industry.\n List of Lecturers (
confirmed)\n - Oriol Bohigas\n Beta Robots, Barcelona, Spain\n - Peter Done
lan\n Victoria University of Wellington, New Zealand\n - Manfred Husty\n Un
iversity of Innsbruck, Austria\n - Andreas Müller\n Institute of Robotics,
Johannes Kepler University Linz, Austria\n - Philippe Wenger\n IRCCyN, CNRS
and École Centrale de Nantes, France\n - Dimiter Zlatanov\n University of
Genoa, ItalyMore Information\n\nFurther information can be found here: http
s://www.simero.org/\n
CONTACT:Andreas Müller (This email address is being protected from spambots. You need JavaScript enabled to view it.
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DTSTAMP:20211201T143152Z
DTSTART;VALUE=DATE:20190729
DTEND;VALUE=DATE:20190803
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