SingulScan

SingulScan is a desktop app (with optional web viewer) that analyzes a robot arm’s kinematics to detect, visualize, and report singularities, near-singular regions, and manipulability drop-offs across a planned workspace. Users import a URDF/STEP model or choose common robot templates, define joint limits, tool frames, and task-space paths, then run a fast sweep that outputs heatmaps, risk scores, and “safe corridor” suggestions. It’s not a full motion planner; it’s a focused preflight checker that tells you where your path is mathematically fragile and likely to cause velocity spikes, controller instability, or poor accuracy. The app generates a short engineering report (plots + CSV) you can attach to design reviews. An AI assistant can explain results in plain language and suggest parameter tweaks, but the core value is deterministic kinematics analysis you can trust.