The Seventh International Summer School on Screw-Theory Based Methods in Robotics
From 28 Aug, 2016 08:00 until 5 Sep, 2016 18:00
In its seventh edition, our summer school on screw theory goes to North America for the first time. The enthusiastic feedback from each of the first six very successful Summer Screws events
(Genoa-Italy, Shanghai-China, again in Genoa, Florianopolis-Brazil, Bologna-Italy, and Beijing-China) proves that this initiative continues to provide a service that the robotics community values and supports.
Summer Screws 2016 will gather seven experts in the robotics applications of screw theory and up to 45 participants at École de technologie supérieure in Montreal from 28 August to 5
September. The School will teach attendees how to apply existing methods and empower them to develop new ones in their own research. The basic theoretical notions will be introduced in a rigorous manner, with emphasis on examples, applications, and exercises.
1. Basic vector-space properties of twists and wrenches: physical interpretation of the linear operations; linear dependence and independence, subspaces; bases and coordinates.
Screw systems: geometry and classifications. (Lecturers: Dimiter Zlatanov and Marco Carricato)
2. Scalar products, dual spaces, reciprocity. Constraint and freedom in mechanisms. Constraint analysis, type synthesis of single-loop mechanisms, type synthesis of parallel manipulators. (Lecturer: Xianwen Kong)
3. Velocity and singularity analysis of parallel and interconnected-chain mechanisms. Derivation of input-output velocity equations and singularity conditions. (Lecturers: Matteo Zoppi and Dimiter Zlatanov)
4. Mappings between screw spaces, stiffness and inertia. Structure of robot compliance. Eigenvalue problems and eigenscrews. Synthesis with springs. (Lecturer: Harvey Lipkin)
5. 6D formulation of the dynamics of individual rigid bodies and rigid-body systems. Equations of motion. Dynamics algorithms. (Lecturer: Roy Featherstone)
6. Basic Lie-group theory, matrix representations of the group of rigid-body displacements. Lie algebras as related to screw theory. The exponential map and its applications in modern
robotics. (Lecturer: Jon Selig)
Ilian Bonev will give this year's invited lecture.
The topic is: Improving the accuracy of industrial robots.
Up to 45 registrations are available at the price of 350 USD, no later than 15 June 2016. Limited financial support is available.
Summer Screws 2016 is organized by the Control and Robotics (CoRo) Lab at École de technologie supérieure, Montreal, Quebec, Canada and the PMARlab Robotics Group, at the
Department of Mechanical, Energy, Industrial, and Transport Engineering (DIME), of the University of Genoa, Genoa, Italy. It is endorsed and supported by the Robotics and Automation
Society of the IEEE, the Italian Robotics and Automation Association (SIRI), and École de technologie supérieure.
For more information visit the Summer Screws web pages: http://www.summerscrews.org