Singular Configurations of Mechanisms and Manipulators

Generalized Singularity Analysis.- Singularity Set Computation: A Hands-On Introduction with the CUIK Suite.- Cuspidal Robots.- Mechanism Constraints and Singularities- The Algebraic Formulation.- Local Investigation of Mobility and Singularities of Linkages.

Andreas Müller obtained a Ph.D. in Mechatronics in 2004 from the Technical UniversityChemnitz, Germany. In 2011 he obtained a habilitation from the University Duisburg-Essen,Germany. He has been member of technical committees of more than 30 internationalconferences.He is working in the broad area of mechanism design with emphasize on kinematics anddynamics. His research interests are centered at mathematical methods for the analysis ofmechanisms, and the 'singularity problem' is a repeating topic within his research. Hecontributed to the advancement of methods for local analysis of critical configurations ofholonomic and non-holonomic mechanisms using the mathematical concept of Lie groups as a modern representative of classical screw theory. Beside developing algorithmic approaches his work is dedicated to the clarification and unification of terminology used in the context of singularities. This research direction complements his work on robust algorithms for robotics and control, where singularities are critical.Dimiter Zlatanov obtained his PhD in Mechanical Engineering from the University of Toronto. He is currently with the Dipartimento di Ingegneria Meccanica, Energetica at the University of Genoa. His scientific work focusses on screw theory and all aspects of singularities. Manfred Husty is Full Professor of Geometry. He works in Computational kinematics,Mathematical methods in robotics, Classical Geometry, Non-Euclidean Geometry, Differential Geometry since 1982. He is head of the unit Geometry and CAD and was Dean of Engineering of University Innsbruck from 2004 to 2008. He is member of the senate of the University Innsbruck since 2002 and was visiting professor at several international and national universities (TU Graz, TU Dresden, Technical University Lima and University Laval, Quebec) and is elected associate member of the Research Centre for Intelligent machines (CIM) at McGill University, Montreal, Canada and received an honorary doctorate from