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UID:20141022T053649EDT-2775Vl73j2@http://www.ieee-ras.org/
DTSTAMP:20141022T093649Z
DESCRIPTION:Motivation and Objective\nApplications of the theory of screws
are based on a combined representation of angular and linear velocity\, or
similarly force and moment\, as a single element of a six-dimensional vec
tor space.The importance of screw theory in robotics is widely recognised\
, in principle. In practice\, almost nowhere is it taught to engineering s
tudents and few know how to use it. Yet\, in a variety of areas of robotic
s\, methods and formalisms based on the geometry and algebra of screws hav
e been shown to be superior to other techniques and have led to significan
t advances. These include the development of fast and efficient dynamics a
lgorithms\, discoveries in the nature of robot compliance and mechanism si
ngularity\, and the invention of numerous parallel mechanisms. The summer
school instructors are the authors of many of these results. They will tea
ch the participants to apply existing techniques and to develop new ones f
or their own research. The basic theoretical concepts will be introduced i
n a rigorous manner\, but the emphasis will be on applications\, with nume
rous examples and exercises.The course delivers a comprehensive overview o
f the basic concepts and some of the main applications of screw-theory\, a
nd hence will be particularly attractive to doctoral students and young re
searchers in robotics\, mechanical engineering\, or applied mathematics. A
s has been the case in all previous editions of Summer Screws\, the advanc
ed topics and the presentation of current progress in this very active fie
ld will also be of considerable interest to many senior researchers. The k
ey role of the presented methods in robot design determines the value of t
he course material to robotics experts from industry.\n \;\nCourse Str
ucture and Main Topics\nThe course is sequentially divided into six parts\
, presented by six lecturers\, in six days. Each part contains lectures on
several closely related topics with integrated exercise sessions.Part 1.
Basic vector-space properties of twists and wrenches: physical interpretat
ion of the linear operations\; linear dependence and independence\, subspa
ces\; bases and coordinates. (Lecturer: Dimiter Zlatanov)Part 2. Scalar pr
oducts\, dual spaces\, reciprocity. Constraint and freedom in mechanisms.
Constraint analysis. Type synthesis of single-loop chains and parallel man
ipulators. (Lecturer: Xianwen Kong)Part 3. Velocity and singularity analys
is of parallel and interconnected-chain mechanisms. Derivation of input-ou
tput velocity equations and singularity conditions. (Lecturer: Matteo Zopp
i)Part 4. Mappings between screw spaces\, stiffness and inertia. Structure
of robot compliance. Eigenvalue problems and eigenscrews. Synthesis with
springs. (Lecturer: Harvey Lipkin)Part 5. 6D formulation of the dynamics o
f individual rigid bodies and rigid-body systems. Equations of motion. Dyn
amics algorithms. (Lecturer: Roy Featherstone)Part 6. Basic Lie group theo
ry\, matrix representations of the group of rigid-body displacements.Lie a
lgebras as related to screw theory. The exponential map and its applicatio
ns in modern robotics (Lecturer: Jon Selig)Connections between the parts a
re continuously emphasized by the lecturers. In this way\, the shared fund
amental ideas are communicated and exemplified as applied to different asp
ects of robot analysis and synthesis. Common themes are identified and exp
lored from different viewpoints. All lecturers have excellent knowledge of
the entire material and share the work to help with the better understand
ing of each section. This is done by direct participation in each other's
lectures\, by providing common assistance to the students during the exerc
ise sessions\, and by answering questions and engaging in informal discuss
ions during the breaks.\nOn its last day\, Summer Screws ends with an exam
followed by an invited lecture on a related topic by an expert from the c
ountry or region where the school is held. This year's lecturer is Henriqu
e Simas.\n \;\nFor additional information see: \;www.summerscrews.
org \;or the attached
DTSTART:20131019T080000
DTEND:20131027T180000
LOCATION:Federal University of Santa Catarina\, Florianopolis\, Brazil (Un
iversidade Federal de Santa Catarina - Florianópolis - Santa Catarina\, Br
azil)
SUMMARY:Summer Screws 2013 - International Summer School on Screw-Theory Ba
sed Methods in Robotics
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