SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra

Patricia Ben-Horin (1) , Moshe Shoham (1) , Stéphane Caro (2) , Damien Chablat (2) , Philippe Wenger (2)

1 Technion - Israel Institute of Technology [Haifa]
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots. The algorithm is based on Grassmann-Cayley algebra. The proposed tool is interactive and introduces the designer to the singularity analysis performed by this method, showing all the stages along the procedure and eventually showing the solution algebraically and graphically, allowing as well the singularity verification of different robot poses.

Mots clés: Singularity; Grassmann-Cayley algebra; parallel robot; software

Domaines: Robotique [cs.RO]

Patricia Ben-Horin, Moshe Shoham, Stéphane Caro, Damien Chablat, Philippe Wenger. SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra. Advances in Robot Kinematics, Jun 2008, Batz sur Mer, France. pp.1-10. ⟨hal-00322730⟩