An Open-Source Toolbox for Motion Analysis of Closed-Chain Mechanisms

  • Josep M. PortaEmail author
  • Lluís Ros
  • Oriol Bohigas
  • Montserrat Manubens
  • Carlos Rosales
  • Léonard Jaillet
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


Many situations in Robotics require an effective analysis of the motions of a closed-chain mechanism. Despite appearing very often in practice (e.g. in parallel manipulators, reconfigurable robots, or molecular compounds), there is a lack of general tools to effectively analyze the complex configuration spaces of such systems. This paper describes the CUIK suite, an open-source toolbox for motion analysis of general closed-chain mechanisms. The package can determine the motion range of the whole mechanism or of some of its parts, detect singular configurations leading to control or dexterity issues, or find collision- and singularity-free paths between given configurations. The toolbox is the result of several years of research and development within the Kinematics and Robot Design group at IRI, Barcelona, and is available under GPLv3 license from


Kinematic constraints  Motion analysis and planning  Branch-and-prune  Higher-dimensional continuation  



The branch-and-prune methods in the CUIK suite have evolved from years of collaboration with F. Thomas, whose guidance and inspiring comments have shaped the final result. We would also like to express our gratitude to M. Henderson and D. Zlatanov for their feedback and support.

This work has been partially supported by the Spanish Ministry of Economy and Competitiveness under project DPI2010-18449, and by Juan de la Cierva and CSIC JAE-Doc fellowships respectively supporting M. Manubens and L. Jaillet.


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • Josep M. Porta
    • 1
    Email author
  • Lluís Ros
    • 1
  • Oriol Bohigas
    • 1
  • Montserrat Manubens
    • 1
  • Carlos Rosales
    • 1
  • Léonard Jaillet
    • 1
  1. 1.Institut de Robòtica i Informàtica IndustrialCSIC-UPCBarcelonaSpain

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