An interesting, unusual problem solution to the calculation of complicated Robolink movements is offered by www.RoBo-mac.de
The program, a Mathematical 3D joint Toolbox controls Direct and Inverse Kinematics, all parameter and measurements “of your robolink arm” can become basic inputs of the calculation. The program tool not only calculates “Pick & Place” final positions, but also individual circle and 3D spline continuous paths movements. It calculates articulated arm & gantry robotic to realize combined igus drylin & robolink motion using 3D Bézier free forms.
A free demo and test package as well as a Tutorial “INVERSE KINEMATICS & ROBOTIC” (German language) can be download at http://www.cnc-mac.de/html/download.html (pl. scroll down this page a little bit to approximately its middle position).
please watch the you tube video, Dipl.-Ing. Norbert Brodtmann from RoBo-mac will assist you in case of questions.