From 5743ff02cb0a1b2eb766e295071d3180aa32c879 Mon Sep 17 00:00:00 2001 From: Sharwin24 Date: Thu, 13 Mar 2025 23:59:26 -0500 Subject: [PATCH] Moved trajectory --- content/posts/delta-robot/index.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/content/posts/delta-robot/index.md b/content/posts/delta-robot/index.md index 483759a..b2cdb17 100644 --- a/content/posts/delta-robot/index.md +++ b/content/posts/delta-robot/index.md @@ -1,6 +1,6 @@ --- title: "Delta Robot ROS Package" -date: 2025-03-14T09:00:00+00:00 +date: 2025-03-13T09:00:00+00:00 description: Open Source Delta Robot ROS Package hero: images/delta_robot.jpg author: @@ -20,7 +20,6 @@ The robot's forward and inverse kinematics were first implemented in a [jupyter
Robot Simulated in 3D Plot - Delta Robot Circular Trajectory
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 to avoid singularities. @@ -154,7 +153,8 @@ 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 + Delta Robot Circular Trajectory + Circle Trajectory