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TriPed-Robot / trip_kinematics

Python package for inverse kinematic calculations of hybrid serial parallel robots
https://trip-kinematics.readthedocs.io/en/main/
MIT License
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Solving quaternions does not preserve normalization #48

Open liquidcronos opened 2 years ago

liquidcronos commented 2 years ago

While the library supports quaternions the solver currently does not constrain the quaternions so that they are normalized!

This can be fixed by defining an inate joint limit after implementing #20

liquidcronos commented 2 years ago

In the mean time, the inverse kinematics solver should throw an error if it encounters quaternions