Summary of contents

As the number of potential applications of parallel robots is quickly growing there are two closely connected issues that may restrict their development: complex forward kinematics and singularity. Research on singularities of parallel robots is a very active field that tackles both complex mathematical issues and demanding computational algorithms. Recently there have been new insights about the real meaning and possible physical consequences of a singularity and the extension of the theory to new architectures (e.g. lower mobility robot, wire-driven parallel robots). There has been also significant progress in computational methods for detecting, analyzing and categorizing singularities. The purpose of this school is to offer a state-of-the-art on these topics to PhD, post-doc students and to young researchers. The following issues will be addressed:

• singularity analysis of lower-mobility parallel robots: theory and applications
• singularity analysis of cuspidal parallel robots: uniqueness domains and classification
• indices for closeness to a singularity
• fast algorithms for detecting singularities in a given workspace
• workspace calculation taking into account singularity region

The official language of this school is english.

Speakers

• S. Caro (IRCCyN, Nantes)
• D. Chablat (IRCCyN, Nantes)
• M. Coste (U. Rennes)
• M. Husty (U. Innsbruck)
• J-P. Merlet (INRIA)
• G. Moroz (INRIA)
• F. Rouillier (INRIA)

Program

October 6, 2011

• 10h-10h15: Presentation of the SIROPA project
• 10h15-11h15: Singularities of differentiable mappings and singularities of parallel robots (M. Coste) (files)
• 11h15-11h45: coffee break
• 11h45-12h45: Some algebraic tools : the SIROPA Maple library (F. Rouillier, G. Moroz) (file)
• 13h-14h15: lunch
• 14h15-15h15: Singularity analysis of cuspidal parallel robots: uniqueness domains and classification (D. Chablat) (files)
• 15h15-16h15: Singularity analysis of lower-mobility parallel robots: theory and applications (S. Caro) (file)
• 16h15..: free discussion

October 7, 2011

• 10h-11h: Geometry of singularities and operation mode transitions (M. Husty) (file)
• 11h-11h30: coffee break
• 11h30-12h30: Singularity detection and extension of the singularity concept (J-P. Merlet) (file)
• 13h-14h15: lunch
• 14h15-14h45: laboratory tour
• 14h45-15h45: free discussion

Pictures of the attendees

School place

The school has been held at INRIA, 2004 Route des Lucioles, Sophia-Antipolis, France. Sophia-Antipolis is a science and research technopole located 20km away from Nice and 7 km from Antibes

Support

This school was supported by IFToMM, ANR (through the SIROPA project) and INRIA

This document was translated from L^AT_EX by H^EV^EA.