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Added gif of real robot

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Sharwin Patil 2025-03-23 12:36:18 -05:00
parent 32f1e0aebf
commit ed89c98fd0
2 changed files with 10 additions and 7 deletions
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content/posts/delta-robot/index.md
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@ -287,15 +287,18 @@ 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: 30%; margin-right: 0px; display: inline-block;">
<img src="circle_pos_vel.png" alt="Circle Trajectory" style="border-radius: 15px; width: 69%; margin-left: 0px; display: inline-block;">
</div>
<div align="center">
<img src="optimized_snake_scan.png" alt="Optimized Snake Scan" style="border-radius: 15px; width: 45%; margin: 10px;">
<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;">
<img src="circle_pos_vel.png" alt="Circle Trajectory" style="border-radius: 15px; width: 80%; display: inline-block; margin: 5px;">
</div>
<div align="center" style="display: flex; justify-content: center; align-items: center; flex-wrap: wrap;">
<img src="optimized_snake_scan.png" alt="Optimized Snake Scan" style="border-radius: 15px; width: 45%; margin: 10px;">
<div style="width: 45%; margin: 10px;">
An example path planned for the robot to collect some data while moving in a snake-like "scanning" pattern. A cross-section of the workspace with a plane at Z=-180mm was created and a boundary was drawn using a convex hull. The hull was given some padding to prevent sending the robot close to a singularity.
</div>
</div>
Above is an example path planned for the robot to collect some data while moving in a snake-like "scanning" pattern. A cross-section of the workspace with a plane at Z=-180mm was created and a boundary was drawn using a convex hull. The hull was given some padding to prevent sending the robot close to a singularity.
## End-Effector Sensors