From 224f9fec97f96a4a5ba4fa4d1f2ce6cc150c162e Mon Sep 17 00:00:00 2001 From: Sharwin24 Date: Tue, 11 Mar 2025 23:07:40 -0500 Subject: [PATCH] Included workspace plot --- content/posts/delta-robot/index.md | 7 +++--- layouts/_default/single.html | 24 ++++++++++++++++++- .../{workspace.html => workspace_plot.html} | 2 +- 3 files changed, 27 insertions(+), 6 deletions(-) rename static/{workspace.html => workspace_plot.html} (69%) diff --git a/content/posts/delta-robot/index.md b/content/posts/delta-robot/index.md index 994e8fc..25c5a11 100644 --- a/content/posts/delta-robot/index.md +++ b/content/posts/delta-robot/index.md @@ -25,9 +25,8 @@ The robot's forward and inverse kinematics were first implemented in a [jupyter The forward and inverse kinematics were then implemented in C++ following the approach described on the Trossen Robotics forum [1]. Access to the kinematics lets us plan paths in the joint space significantly easier and safer since the workspace is irregular. Once a joint trajectory is planned, the path can be verified to stay in the workspace - +
+WORKSPACE ABOVE THIS
Delta Robot Workspace @@ -159,7 +158,7 @@ The Modern Robotics [2] textbook details the process of deriving the Jacobian fo Using the Jacobian we can convert end-effector position trajectories into Joint velocity trajectories.
- Circle Trajectory + Circle Trajectory
diff --git a/layouts/_default/single.html b/layouts/_default/single.html index b2ba804..10ee0df 100644 --- a/layouts/_default/single.html +++ b/layouts/_default/single.html @@ -82,6 +82,28 @@ + + {{ if eq .Page.Title "Delta Robot ROS Package" }} + + {{ end }} {{ end }} @@ -97,4 +119,4 @@
{{ end }} -{{ end }} +{{ end }} \ No newline at end of file diff --git a/static/workspace.html b/static/workspace_plot.html similarity index 69% rename from static/workspace.html rename to static/workspace_plot.html index f570f9e..1651d92 100644 --- a/static/workspace.html +++ b/static/workspace_plot.html @@ -79514,6 +79514,6 @@ assign(main.baseCalendar.prototype, { /******/ return __webpack_exports__; /******/ })() ; -});
+});
\ No newline at end of file