diff --git a/content/posts/delta-robot/index.md b/content/posts/delta-robot/index.md index 0b0f0b0..994e8fc 100644 --- a/content/posts/delta-robot/index.md +++ b/content/posts/delta-robot/index.md @@ -19,18 +19,18 @@ An open source ROS package for controlling delta robots with forward and inverse The robot's forward and inverse kinematics were first implemented in a [jupyter notebook](https://github.com/Sharwin24/DeltaRobot/blob/main/delta_kinematics.ipynb) to visualize the robot's configuration space and workspace.
- Robot Simulated in 3D Plot - Delta Robot Circular Trajectory + 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
- Delta Robot Workspace + Delta Robot Workspace
diff --git a/content/posts/delta-robot/workspace.html b/static/workspace.html similarity index 100% rename from content/posts/delta-robot/workspace.html rename to static/workspace.html