School of Mathematics, Statistics and Operations Research

Dr Peter Donelan

Senior Lecturer
School of Mathematics, Statistics and Operations Research
address

Phone: 04 463 5659
Fax: 04 463 5045
Location: Room 441, Cotton Building, Gate 7 Kelburn Pde, Kelburn Campus

Dr Peter Donelan

Currently Teaching

MATH 142 - Calculus 1B
Course Coordinator

MATH 244 - Differential Equations
Course Coordinator

MATH 301 - Differential Equations
Course Coordinator

MATH 453 - Lie Groups and Lie Algebras
Course Coordinator

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.

Publications