2008/09/18 by Patricia Ben-Horin, Ben-Horin, Patricia, Moshe Shoham +7
Computer Science · Engineering · #FOS: Computer and information sciences #Matrix Theory and Algorithms #Polynomial and algebraic computation #Robotic Mechanisms and Dynamics #Robotics (cs.RO) #cs.RO
paper · pdf · doi:10.48550/arxiv.0809.3182
Advances in Robot Kinematics, Batz sur Mer : France (2008)
arxiv created 2008/09/18 · openalex publication_date 2008/09/18 · arxiv updated 2009/12/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/29
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.