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

TL;DR

SinguLab is an interactive graphical tool that utilizes Grassmann-Cayley algebra to analyze and verify singularities in parallel robots, aiding designers through visual and algebraic stages.

Contribution

The paper introduces SinguLab, a novel GUI that facilitates singularity analysis of parallel robots using Grassmann-Cayley algebra, enhancing understanding and verification.

Findings

Provides an interactive platform for singularity analysis

Visualizes algebraic and graphical stages of analysis

Enables verification of robot poses for singularities

Abstract

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.