パラレルロボットarXiv:0809.3182
SinguLab：グラスマン・ケイリー代数に基づくパラレルロボット特異点解析のGUIツール
SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra
パラレルロボットの特異点解析をグラスマン・ケイリー代数で行う対話型GUIツールSinguLabを提案し、解析過程と結果を代数・図で表示して特異点検証を可能にした。
著者: Patricia Ben-Horin, Moshe Shoham, Stéphane Caro, Damien Chablat, Philippe Wenger
分類: cs.RO
原文アブストラクト
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.
