Published March 20, 2026 | Version v0.1.0
Software Open

Wristy Twisty Solver: An open-source kinematics solver for 6R robots with wrist offset

Authors/Creators

Description

Wristy Twisty Solver is an open-source kinematics solver designed specifically for 6R robots with wrist offsets, such as the ABB GoFa and Yaskawa Motoman series. This solver computes all possible poses for a given end-effector position, including singularity positions, making it particularly suitable for offline programming environments.

Files

RobotComponents/WristyTwistySolver-v0.1.0.zip

Files (1.2 MB)

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Additional details

Related works

Is supplement to
Software: https://github.com/RobotComponents/WristyTwistySolver/tree/v0.1.0 (URL)

Software

Repository URL
https://github.com/RobotComponents/WristyTwistySolver

References

  • Brandstötter, M., Angerer, A., Hofbaur, M. (2014). An Analytical Solution of the Inverse Kinematics Problem of Industrial Serial Manipulators with an Ortho-parallel Basis and a Spherical Wrist. In: Proceedings of the Austrian Robotics Workshop, Linz, Austria.
  • Trinh, C., Zlatanov, D., Zoppi, M., Molfino, R. (2015). Geometrical Approach to the Inverse Kinematics of 6R Serial Robots With Offset Wrists. In: Proceedings of the ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5C: 39th Mechanisms and Robotics Conference. Boston, Massachusetts, USA. August 2–5, 2015. V05CT08A016. ASME. https://doi.org/10.1115/DETC2015-47950
  • Meyer, J. (2017-2025). OPW Kinematics: Closed form IK for parallel base, spherical wrist industrial manipulators. GitHub repository. Available at: https://github.com/Jmeyer1292/opw_kinematics