10th Summer School on Screw Theory
The International Summer School on Screw-Theory Based Methods in Robotics (Summer Screws) has been organized since 2009. The 10th IFToMM International Summer School on Screw Theory Based Methods in Robotics (Summer Screws 2024) will held at İzmir Institute of Technology (IzTech) in İzmir, Türkiye in September 7-14, 2024. The Summer School’s instructors are renowned international experts on Screw Theory, and some of its main areas of application in robotics as well as mechanism analysis and design. The program will introduce basic theoretical notions in a rigorous manner, with a focus on examples, applications, and exercises. This summer school is suitable for M.Sc. students, Ph.D. students, post-docs, and academic staff, as well as participants from industry who want to enhance their skills in this field.
- Basic vector-space properties of twists and wrenches: physical interpretation of the linear operations; linear dependence and independence, subspaces; bases and coordinates.
- Geometry of screw systems. Classification of two- and three-systems of screws. Persistent screw systems: definition, conditions and examples.
- Scalar products, dual spaces, reciprocity. Constraint and freedom in mechanisms. Constraint analysis. Type synthesis of single-loop mechanisms and parallel manipulators.
- Velocity and singularity analysis of mechanisms. Derivation of input-output velocity equations and singularity conditions
- Formulation of the dynamics of individual rigid bodies and rigid-body systems. Equations of motion. Dynamics algorithms
- 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
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