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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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 ### 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.