Spherical Wrist Kinematics

[romanarust]

Feature Request

Spherical Wrist Kinematics solver for robots with spherical wrist (ABB, Staubli)

Useful links:

• https://github.com/Jmeyer1292/opw_kinematics
• https://www.researchgate.net/publication/264212870_An_Analytical_Solution_of_the_Inverse_Kinematics_Problem_of_Industrial_Serial_Manipulators_with_an_Ortho-parallel_Basis_and_a_Spherical_Wrist
• https://github.com/visose/Robots/blob/master/Robots/Kinematics.cs

[romanarust]

in the making ... https://github.com/compas-dev/compas_fab/blob/ik_analytical/src/compas_fab/backends/ik_solver/ik_spherical_wrist.py

[gonzalocasas]

Solved already