The one week course is organized in the form of several interactive lectures addressing the five topics where each lecturer will focus on one topic. However, common themes are identified and explored in each lecture from different viewpoints. This reinforces learning about the phenomena as well as understanding their importance, while providing the participants with varied conceptual and methodological tools applicable to the problems at hand.
The lectures will be given by the following renowned experts in the field (listed alphabetically):
Marco Carricato (Università di Bologna) is a full professor of Mechanics of Machines at the University of Bologna, where he is the head of the IRMA L@B (Industrial Robotics, Mechatronics & Automation Lab @ Bologna) and the Rector Delegate for PhD Programs of the University. He is an associate editor of the journal Mechanism and Machine Theory, as well as a member of the scientific committees of several international conferences. He is the deputy Chair of the IFToMM Technical Committee for Computational Kinematics and a member of the IFToMM Technical Committee for Robotics and Mechatronics. His research interests include robotic systems, servoactuated automatic machinery and the theory of mechanisms, with a particular emphasis on parallel manipulators and screw theory. In the field of singularities, he presented a comprehensive taxonomy of singularities of parallel kinematic chains based on screw theory. This work earned him the 2011 IEEE IRAS Young Author Best Paper Award. He was also awarded the AIMETA Junior Prize 2011 by the Italian Association of Theoretical and Applied Mechanics for outstanding research results in the field of Mechanics of Machines. Lecture Title: Screw theory and its application to Singularity Analysis


Alba Perez Gracia (Universitat Politecnica de Catalunya, Spain) is an associate professor at the Polytechnic University of Catalonia, where she is also the Director of the Centre for the Design of Industrial Equipment, CDEI, and the head of the Computational Robotics research line at the IRI Robotics Institute. Her research is focused on theoretical kinematics and robot design. Her main contributions in these areas are the use of Clifford algebras for robot kinematics and robot design, the development of methods for grasping and for robot hand design, and the application of robotics to humanrobot motion interaction through the design of exoskeletons. She has also contributed to the fusion of robotics and virtual/augmented reality, and is currently working on mobile robotics for agricultural applications. She is the author of approximately 20 peerreviewed journal articles and book chapters, and more than 70 contributions in international conferences and recipient of National Science Foundation collaborative research awards, involving several universities. In addition to these awards, she has participated in around 10 more funded research projects. Her professional service includes being in the Scientific Committee of five international conferences, and also being associate editor of the ASME Journal of Mechanical Design. As a professor and advisor, Dr PerezGracia has taught more than 12 different undergraduate and graduate courses in robotics and mechanical engineering, and has advised 6 PhD and more than 20 MS graduate students. Lecture Title: Using or avoiding singularities in the design of mechanisms During the second part, we will discuss tools for the designer, based on singularity placement and the connection between singularity and symmetry. Some examples of kinematic synthesis with singularity considerations will be presented. 

Manfred Husty (University of Innsbruck, Austria) is a full Professor of Geometry at the Leopold Franzens University of Innsbruck. He has been working on theoretical kinematics, robot kinematics workspace and singularity analysis for more than 35 years. His most important contributions are the solution of the forward kinematics of the general StewartGough platform, an efficient (real time) algorithm for the inverse kinematics of general serial 6R robots, as well as on workspace and singularity analysis of different types of parallel mechanisms applying methods from algebraic geometry. He is scientific board member of Joanneum Research Institute of Robotics. He got the doctorate of technical sciences from the Technical University Graz in 1983 and the habiltiation in 1989. In the years 199394 he was Erwin Schrödinger fellow at McGill Center of Intelligent Machines in Montreal, Canada. From 2004 to 2008 he served as dean of the faculty of Technical Sciences at University of Innsbruck. He is long time chair of IFToMM Austria and past chair of the TC of Computational Engineering of IFToMM. In 2013 he obtained an honorary doctorate from Cluj Technical University and in 2017 he received the "Mechanism and Machine Theory 2017 Award for Excellence to celebrate and reward the top 10 mostcited papers since its first publication". Lecture Title: Mechanism Constraints and Singularities The Algebraic Formulation Topics to be addressed in the lectures are:


JeanPierre Merlet (INRIA Sophia Antipolis, France) is a fulltime senior scientist and the scientific head of the HEPHAISTOS team. He graduated in control theory from Ecole Centrale de Nantes in 1980 and obtained his Ph.D in Robotics from the University Paris VI in 1986. He has worked on the theoretical aspects of parallel robots singularities together with their practical aspects. He has developed numerical methods to manage singularities both in the design phase and during control, taking into account unavoidable uncertainties in the modeling. He is currently extending this approach on cabledriven parallel robots and the use of AI for kinematics problems. He is an IFToMM Award of Merits, an IEEE Fellow and doctor honoris causae from Innsbruck University. He has served for two terms as member of IFToMM Executive Council, chairman of the IFToMM Technical Committee for Computational Kinematics and chairman of IFToMM France. Lecture Title: Physical Singularities and relevant Numerical Methods 

Andreas Müller (Institute of Robotics, Johannes Kepler University Linz, Austria) is a full professor and the head of the Institute of Robotics at the Johannes Kepler University, Linz, Austria. He has been working on singularities of mechanisms for more than 20 years, making fundamental contributions to the local analysis of linkage singularities and mobility identification. He is a member of the IFToMM Technical Committees for Computational Kinematics and Multibody Systems. He is also a member of the ASME Technical Committees on Mechanisms and Robotics and of Multibody Systems and Nonlinear Dynamics. He serves as associate Editor for the IEEE Transactions on Robotics, the IEEE Robotics and Automation Letters, and Meccanica. He has served as associate editor of the IFToMM journal Mechanism and Machine Theory. Lecture Title: Topological Analysis of Singularities and Mobility with Screw and Lie Group Theory 

Philippe Wenger (IRCCyN, CNRS and École Centrale de Nantes, France) is a fulltime CNRS Director of Research at Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN, until 2016) and Laboratoire des Sciences du Numérique de Nantes (LS2N, from 2017). Hegraduated in mechanical engineering from Ecole Centrale de Nantes in 1985 and obtained his Ph.D in Robotics from the University of Nantes in 1989. He was an Assistant Professor from 1989 to 1990. Since 1991, he has been a fulltime CNRS researcher at Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN) until 2016 and Laboratoire des Sciences du Numérique de Nantes (LS2N) from 2017. He has been working on robot kinematics and singularities of serial and parallel manipulators for 30 years, both from a theoretical point of view and for industrial applications. He serves as a Professor at Ecole Centrale where he teaches courses to Master and Ph.D students. He has been a vicechair of the IFToMM Technical Commitee for Computational Kinematics from 2011 to 2021. He serves as an Associate Editor of the IFToMM journal Mechanisms and Machine Theory and has served as an Associate Editor of the ASME journal Mechanisms and Robotics until 2019. 