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Moving workspace path below interactive workspace

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Sharwin Patil 2025-03-23 12:52:45 -05:00
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content/posts/delta-robot/index.md
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@ -146,6 +146,13 @@ The forward and inverse kinematics were then implemented in C++ following the ap
<div id="workspace-container" style="overflow-x: auto; width: 90%; justify-content: center; align-items: center; display: flex; margin: 0 auto;">
</div>
<div align="center" style="display: flex; justify-content: center; align-items: center; flex-wrap: wrap;">
<img src="optimized_snake_scan.png" alt="Optimized Snake Scan" style="border-radius: 15px; width: 45%; margin: 10px;">
<div style="width: 45%; margin: 10px;">
An example path planned for the robot to collect some data while moving in a snake-like "scanning" pattern. A cross-section of the workspace with a plane at Z=-180mm was created and a boundary was drawn using a convex hull. The hull was given some padding to prevent sending the robot close to a singularity.
</div>
</div>
### The Jacobian
The Modern Robotics [2] textbook details the process of deriving the Jacobian for a delta robot. The Jacobian is useful for converting end effector velocities to joint velocities. Using the Jacobian we can convert end-effector position trajectories into Joint velocity trajectories.
@ -293,12 +300,6 @@ The Modern Robotics [2] textbook details the process of deriving the Jacobian fo
<img src="RealDeltaPringle.gif" alt="Real Robot Trajectory" style="border-radius: 15px; width: 25%; margin: 5px; display: inline-block;">
<img src="circle_pos_vel.png" alt="Circle Trajectory" style="border-radius: 15px; width: 80%; display: inline-block; margin: 5px;">
</div>
<div align="center" style="display: flex; justify-content: center; align-items: center; flex-wrap: wrap;">
<img src="optimized_snake_scan.png" alt="Optimized Snake Scan" style="border-radius: 15px; width: 45%; margin: 10px;">
<div style="width: 45%; margin: 10px;">
An example path planned for the robot to collect some data while moving in a snake-like "scanning" pattern. A cross-section of the workspace with a plane at Z=-180mm was created and a boundary was drawn using a convex hull. The hull was given some padding to prevent sending the robot close to a singularity.
</div>
</div>
## End-Effector Sensors