Qualifications
BSc(Hons) Brist, PhD S'ton
Responsibilities
Graduate Coordinator - MATH
Research Interests
Singularity theory, invariant theory, applications to robotics
Biography
My research is in rigid-body kinematic geometry, including applications to the geometry of robotics. The emphasis has been on understanding and classifying the instantaneous and singular behaviour of motions and point trajectories, and the connections between them. Key to the research has been incorporating ideas from singularity theory.
Recent and current research projects:
- classical invariant theory for the Euclidean group and invariants of screw systems, with address and Deborah Crook (Master's student)
- singularities of serial manipulators, with an emphasis on genericity.
- Singularities in Robot Kinematics - A Publications Database Construction: Jeffrey Azzato; content and upkeep: Peter Donelan; work funded by Victoria University Research Fund and Science Faculty Research Grants. The database now contains in excess of 1100 items.