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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 -
Delta Robot Circular Trajectory Real Robot Trajectory

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literal 0 HcmV?d00001 diff --git a/content/posts/delta-robot/index.md b/content/posts/delta-robot/index.md index 56bb5b6..6d5033e 100644 --- a/content/posts/delta-robot/index.md +++ b/content/posts/delta-robot/index.md @@ -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.