rs-opw-kinematics: Rust implementation of inverse and forward kinematic solutions for 6 axis industrial robots with a parallel base and spherical wrist.

[bourumir-wyngs]

rs-opw-kinematics implements inverse and forward kinematic solutions for 6-axis industrial robots with a parallel base and spherical wrist. This work is similar o the C++ project Jmeyer1292/opw_kinematics, and based on the same research paper
by M.Brandstötter et.al, 2014. It s is independent implementation with additional features. This solver is hardened against the J5 = 0° or ± 180° singularity, optimized for trajectory planning (by prioritizing inverse kinematics solutions close to the previous robot configuration), and includes more robots as configuration examples. The project is written in Rust, deployed in crates.io and available under a BSD-3 license.