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Sharwin Patil 2025-03-23 12:50:23 -05:00
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content/posts/delta-robot/index.md
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@ -23,7 +23,8 @@ An open source ROS package for controlling delta robots with position and veloci
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.
<div align="center">
<img src="FK_notebook.png" alt="Robot Simulated in 3D Plot" style="border-radius: 15px; width: 45%; margin-left: 5px; display: inline-block;">
<img src="FK_notebook.png" alt="Robot Simulated in 3D Plot" style="border-radius: 15px; width: 45%; margin: 5px; display: inline-block;">
<img src="DeltaCAD.png" alt="Delta Robot CAD Model" style="border-radius: 15px; width: 32%; margin: 5px; display: inline-block;">
</div>
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.
@ -287,7 +288,6 @@ The Modern Robotics [2] textbook details the process of deriving the Jacobian fo
</details>
</div>
<div align="center" style="overflow-x: auto; width: 100%;">
<img src="DeltaCircleTrajectory.gif" alt="Delta Robot Circular Trajectory" style="border-radius: 15px; width: 50%; margin: 5px; display: inline-block;">
<img src="RealDeltaPringle.gif" alt="Real Robot Trajectory" style="border-radius: 15px; width: 25%; margin: 5px; display: inline-block;">