v6.2.0.0

More robot models in ArmKinematicModels

The following models have been added to the ArmKinematicModels enum:

• ARCMate100iDDC, ARCMate100iDFG, ARCMate100iD16SB441
• ARCMate120iDFG
• CR35iB, CR7iAL_2
• CRX3iA, CRX5iA, CRX20iAL, CRX30iA, CRX10iALPaint
• LR10iA10, LRMate1011AFoodClean, LRMate200iD7WE
• M710iC20L, M710iD50M, M710iD70
• M800iB60, M8006020B, M81019020B, M81027027B
• M900iB700E, M910400F37B, M950iA500, M950iA500SE, M950500F28A
• M1000iA, M1000550F46A, M410800F32C
• R2000iC190S, R2000iC190SSE, R2000iC270FSE
• R2000125F31E, R2000210F31E, R2000300F27E, R2000180F27E

Note: do not rely on the implicit integer values of ArmKinematicModels members. The enum is sorted alphabetically and new models may be inserted at any position in future releases, shifting the integer values of existing members. Always use the named members, not their numeric equivalents.

CRX inverse kinematics: analytical solver, no seed required

The CRX cobot inverse kinematics solver has been rewritten using a closed-form geometric approach. It now computes all valid joint solutions for a given Cartesian pose without requiring a seed position.

The seedJoints parameter has been removed from CrxKinematicsUtils.InverseKinematics. If your code was passing a seed, remove that argument.

The solver is now around 3x faster. The includeDuals parameter remains available to control whether dual solutions are included.

var dh = DhParameters.FromArmKinematicModel(ArmKinematicModels.CRX10iA);
var target = new CartesianPosition { X = 400, Y = 250, Z = 650, W = 0, P = 90, R = 0 };

// All solutions are returned, no seed needed
JointsPosition[] solutions = KinematicsUtils.InverseKinematics(target, dh);

// Or call the CRX-specific method directly
JointsPosition[] solutions = CrxKinematicsUtils.InverseKinematics(target, dh, includeDuals: true);