I am designing a robot from scratch with a differential wrist similar to the one on this video :
I would like to modify the program of the AR4 for the teensy 4.1 to fit these new kinematics, but I'm not that good at programming.
So I have a few questions :
Is this allowed ? Just making sure.
I found some formulas about differential wrists on this publication :
Here are the formulas, which I think will apply to my design :