I would have loved to take a look at the code. I had the same reaction when his previous baseboard project hit HN. Leaving this other reference https://en.wiki

I would have loved to take a look at the code. I had the same reaction when his previous baseboard project hit HN. Leaving this other reference https://en.wikipedia.org/wiki/Parallel_manipulator https://en.wikipedia.org/wiki/Parallel_manipulator Inverse kinematics of parallel manipulators for the general case can get really hairy