Editing Inverse kinematics (section)

=== Ortho-parallel Basis and a Spherical Wrist ===
[[Image:Mini-usine Indulo (Villeurbanne), janvier 2024.JPG|thumb|Spherical wrist (axes of the last three joints of the robot intersect).]]
Many industrial 6DOF robots feature three rotational joints with intersecting axes ("spherical wrist"). These robots, known as robots with an "Ortho-parallel Basis and a Spherical Wrist," can be defined by 7 kinematic parameters that are distances in their assumed standard geometry.<ref>Mathias Brandstötter, Arthur Angerer, Michael Hofbaur (2014). An Analytical Solution of the Inverse Kinematics Problem of Industrial Serial Manipulators with an Ortho-parallel Basis and a Spherical Wrist. Proceedings of the Austrian Robotics Workshop 2014.
22-23 May, 2014, Linz, Austria.[https://www.researchgate.net/profile/Mathias-Brandstoetter/publication/264212870_An_Analytical_Solution_of_the_Inverse_Kinematics_Problem_of_Industrial_Serial_Manipulators_with_an_Ortho-parallel_Basis_and_a_Spherical_Wrist/links/53d2417e0cf2a7fbb2e98b09/An-Analytical-Solution-of-the-Inverse-Kinematics-Problem-of-Industrial-Serial-Manipulators-with-an-Ortho-parallel-Basis-and-a-Spherical-Wrist.pdf]</ref> These robots may have up to 8 independent solutions for any given position and rotation of the robot tool head. Open-source solutions for [[C++]]<ref>opw_kinematics [https://github.com/Jmeyer1292/opw_kinematics]</ref> and [[Rust (programming language)|Rust]]<ref>Rust is for Robotics (curated collection), [https://github.com/robotics-rs/robotics.rs]</ref> exist. OPW has also been integrated into ROS framework. <ref>moveit_opw_kinematics_plugin (ROS Wiki) [https://wiki.ros.org/moveit_opw_kinematics_plugin]</ref>