Purpose

The purpose of this school is to introduce key methods, milestone results, and main problems involving singularities of mechanisms and robotic manipulators. The 3rd edition of the school will be celebrated in Linz, following the earlier succesful editions in Udine (2014) and Linz (2017).

The lectures will provide a wide overview of cutting-edge work around the following topics:

  • Definition of singularity. Singularity types.
  • Mathematical characterization of singularities.
  • Local and global topology of the singularity set and configuration space.
  • Symbolic and numerical tools for singularity set computation.
  • Methods to compute singularity-avoiding motions.
  • Applications to illustrative robots and mechanisms.

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.