1993 Schloss Dagstuhl (Germany)
1995 Sophia Antipolis (France)
2001 Seoul (South Korea) The accepted papers appeared in the first number of the "Electronic Journal of Computational Kinematics".
2005 Cassino (Italy) A selection of the best papers appeared as a special issue in Mechanism and Machine Theory, Vol.41, n.8, 2006.
2009Duisburg-Essen (Germany)
2013 Barcelona (Spain)
