SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra - Archive ouverte HAL
Communication Dans Un Congrès Année : 2008

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

Résumé

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.
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Dates et versions

hal-00322730 , version 1 (18-09-2008)

Identifiants

Citer

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⟩
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