3rd Summer School on Singularities of Mechanisms and Robotic Manipulators

From 29 Jul, 2019 until 3 Aug, 2019


Robotics is flourishing. Innovative robot mechanisms constantly see the light of day, and their use may increase dramatically in the near future. Whether on Earth or in Space, from research labs, to medicine, or industry, we see parallel and walking robots, force-feedback devices, flying manipulators, anthropomorphic hands and arms, humanoids, and other sophisticated machines in action. The capacity to perform complex motions in a precise and reliable way is essential for such devices, but the analysis and planning of such motions is by no means trivial. It requires a deep understanding of so-called singularities, the special configurations of a mechanism in which the kinematic and dynamic behavior undergoes sudden and dramatic change. The purpose of this school is to introduce key methods, milestone results, and main problems involving singularities of mechanisms and robotic manipulators.

The school will offer a good balance of theory and practice. The attendees will be introduced to the mathematical theory needed to cope with singularities, but also to the software tools to compute and visualize them. Computer rooms with preinstalled software packages will be used, in which the attendees will be guided on the application of such tools to illustrative robots and mechanisms. Prototypes of real robots will also be available for experimentation.

Topics of Interest

  • Definition, characterization, and classification of singularities
  • Local and global topology of the singularity set and configuration space
  • Symbolic and numerical tools for singularity set computation
  • Methods for singularity-free path planning
  • Impact of singularities in robot dynamics


Oriol Bohigas: Institut de Robòtica i Informàtica Industrial (CSIC-UPC), Barcelona, Spain
Manfred Husty: University of Innsbruck, Austria
Andreas Müller: Institute of Robotics, Johannes Kepler University Linz, Austria
Philippe Wenger: IRCCyN, CNRS and École Centrale de Nantes, France
Dimiter Zlatanov: University of Genoa, Italy

** Guest Lecturer:
Peter Donelan: Victoria University of Wellington, New Zealand

Early registration fee (until 31 May 2019): 350 EUR

Given the interest in the last two editions of this school, the number of places has been increased.
It is still advisable to register as early as possible.
** The course is accredited with 1.5 ECTS points


A block rooms are reserved at the Sommerhaus Hotel adjacent to the venue.
Price: Single room (incl. breakfast): 51 EUR/night, Double room (incl. breakfast): 82 EUR/night

For more information, go to http://www.simero.org/

Technical co-Sponsorship by IEEE RAS

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