We're now solving all robots with three parallel axes except for the case of the first and last three axes being parallel and no additional axes intersecting.
Spherical-wrist robots with the wrist at the base are also solvable now (kinematic chain inversion).
We're now solving all robots with three parallel axes except for the case of the first and last three axes being parallel and no additional axes intersecting. Spherical-wrist robots with the wrist at the base are also solvable now (kinematic chain inversion).