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. 
Patricia Ben-Horin (Technion), Moshe Shoham (Technion), St\'ephane   Caro (IRCCyN), Damien Chablat (IRCCyN), Philippe Wenger...