Wednesday July 27/4:30

MS37/Harbor 1

Robot Kinematics

Kinematics is the study of motion, particularly the motions of bodies geometrically constrained by their contacts with one another. The field of robotics has engendered many new connections between kinematics and mathematics. The speakers in this minisymposium will present an overview of several topics in robot kinematics that should be of interest to applied mathematicians. The topics to be discussed include geometric issues relating to nonholonomic kinematic constraints, recent advances in methodology for inferring robot kinematic models from measurements, how the curvature of surfaces in contact affects the mobility of an object grasped by a robot hand, and new techniques for solving sparse systems of algebraic equations like those which often arise in kinematic studies. Organizer: Charles W. Wampler General Motors Research and Development Center