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Included workspace plot

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Sharwin24 2025-03-11 23:07:40 -05:00
parent a4a59a5716
commit 224f9fec97
3 changed files with 27 additions and 6 deletions
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7
content/posts/delta-robot/index.md
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@ -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
<!-- <div align="center">
<iframe src="static/workspace.html" width="800" height="600" style="border:none;"></iframe>
</div> -->
<div id="workspace-container"></div>
WORKSPACE ABOVE THIS
<div align="center">
<img src="workspace.png" alt="Delta Robot Workspace" style="border-radius: 15px; width: 50%; margin-left: 5px; display: inline-block;">
@ -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.
<div align="center" style="overflow-x: auto; width: 100%;">
<img src="circle_pos_vel.png" alt="Circle Trajectory" style="border-radius: 15px; width: 80%; margin-left: 5px; display: inline-block;">
<img src="circle_pos_vel.png" alt="Circle Trajectory" style="border-radius: 15px; width: 95%; margin-left: 5px; display: inline-block;">
</div>
<div>