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

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

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.

Damien Chablat | Philippe Wenger | Moshe Shoham | Stéphane Caro | Patricia Ben-Horin

[1] Neil L. White,et al. Multilinear Cayley Factorization , 1991, J. Symb. Comput..

[2] Neil L. White,et al. The Dotted Straightening Algorithm , 1991, J. Symb. Comput..

[3] J. Faugère,et al. Combinatorial classes of parallel manipulators , 1995 .

[4] J. M. Rico-Martinez,et al. Kinematics and singularity analyses of a 4-DOF parallel manipulator using screw theory , 2006 .

[5] L. Tsai,et al. Jacobian Analysis of Limited-DOF Parallel Manipulators , 2002 .

[6] Kenneth H. Hunt,et al. Identification of the Special Configurations of the Octahedral Manipulator using the Pure Condition , 2002, Int. J. Robotics Res..

[7] M. Shoham,et al. Singularity of a class of Gough-Stewart platforms with three concurrent joints , 2006, ARK.

[8] M. Shoham,et al. Singularity analysis of a class of parallel robots based on Grassmann–Cayley algebra , 2006 .

[9] Moshe Shoham,et al. Application of Grassmann—Cayley Algebra to Geometrical Interpretation of Parallel Robot Singularities , 2009, Int. J. Robotics Res..