She received the Mathematics degree from the Universitat de Barcelona in 2001, and the Ph.D. degree (with honors) in Computer Algebra from the Universitat Politècnica de Catalunya in 2008. From 2009 to 2010 she worked with the Robotics Group of the Institut de Recherche en Communications et Cybernétique de Nantes (France) in the analysis of cuspidal robots. Since 2011 she holds a Juan de la Cierva contract at the Institut de Robòtica i Informàtica Industrial, (IRI, CSIC-UPC).

Kinematics and Robot Design Group

Institut de Robòtica i Informàtica Industrial


mmanuben (at)

+34 93 401 73 40

Montserrat Manubens, Ph.D.

Parallel robot kinematics. Singularity analysis, workspace determination, cuspidal robots...

Cable-driven parallel manipulators. Wrench-feasibility analysis and navigation...

Aerial manipulation of loads. Towed-cable systems, 6-D manipulation of loads...

Computer algebra. Gröbner bases, comprehensive Gröbner systems...


Short bio:

Main scientific interests:

Interesting links:

The HexaCrane and the FlyCrane. Path planning strategies applied to cable-driven and towed-cable robots.

The CUIK project. Development of branch and prune techniques for the motion analysis of mechanisms.

The CUIK Suite. Tools for the motion analysis of closed-chain multibody systems.