Can the inverse kinematics solver in MATLAB handle a robot with non-spherical wrist?

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I am trying to create a painting robot with non-spherical wrist from the Robotics Toolbox using rigidbodytree and other supporting solvers and tools. The documentation on the inverseKinematics solver does not explicitly mention whether it can handle such a robot.

Accepted Answer

Karsh Tharyani
Karsh Tharyani on 10 Jun 2022
Yes, it should be supported.
Please reach out to Technical Support with your specific use case should you run into any issues.

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