di Genova Group ScrewTheory Based Methods （di热那亚集团ScrewTheory基础方法）.pdf

Fifth International Summer School on Università Robotics di Genova Group Screw-Theory Based Methods in Robotics 3-11 September, 2014 Università GRAB di Bologna University of Bologna, Bologna, Italy summerscrews2014.ing.unibo.it In 2014, our screw-theory school comes to the world’s oldest university. In early September, Summer Screws‘14 will gather six experts in the application of screw theory in robotics and up to 40 participants at the University of Bologna, Bologna, Italy. 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, emphasizing examples, applications, and exercises. Scholarships are available. Applications of the theory of screws are based on the combined representation of angular and linear velocity, or similarly force and moment, as a single element of a six-dimensional vector space. The importance of screw theory in robotics is widely recognised, in principle. In practice, almost nowhere is it taught to engineering students and few know how to use it. Yet, in a variety of areas of robotics, methods and formalisms based on the geometry and algebra of screws have shown to be superior to other techniques and have led to significant advances. These include the development of fast and efficient dynamics algorithms, discoveries in