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Sharwin24 2025-03-11 23:49:48 -05:00
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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
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<summary>Forward and Inverse Kinematics C++ Implementation as ROS services</summary>
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### 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.