I've been researching decoupled inverse kinematics with respect to industrial robots. The assumptions made in the decoupled equations greatly simply the equations, however I am having a hard time understanding how these are actually applied once a tool is attached to the robot.
According to one source, "The spherical wrist assumption makes the position of the wrist center point is independent on the end-effector orientation."
This is great since many industrial robots are built this way, but what happens once you attach a tool, say a MIG welding gun? The length of the tool creates an offset from the wrist center which then makes it such that the position of the wrist center IS influenced by the orientation of the end effector. All of the derivations of inverse kinematics using decoupled equations stop at J6 and do not include a tool frame. To me, this really causes a issue? Am I missing something here?lop