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

摘要

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