diff --git a/content/posts/delta-robot/index.md b/content/posts/delta-robot/index.md index 1f85b4f..5aa3b4e 100644 --- a/content/posts/delta-robot/index.md +++ b/content/posts/delta-robot/index.md @@ -15,10 +15,6 @@ repo: https://github.com/Sharwin24/DeltaRobot --- An open source ROS package for controlling delta robots with forward and inverse kinematics, trajectory generation, and visualization. Designed for public use and easy integration with new delta robot designs and applications. -
- Delta Robot Workspace -
- ## Robot Kinematics 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. @@ -27,7 +23,15 @@ The robot's forward and inverse kinematics were first implemented in a [jupyter Delta Robot Circular Trajectory -The forward and inverse kinematics were then implemented in C++ following the approach described on the Trossen Robotics forum [1]. +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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@@ -148,7 +152,7 @@ The Modern Robotics [2] textbook details the process of deriving the Jacobian fo
\[ - \dot{\theta} = J_{\Theta} \cdot \underbrace{\dot{p}}_{EE Velocity} + \dot{\theta} = J^{-1}_{\theta} \cdot J_{p} \cdot \dot{p} \]
diff --git a/content/posts/delta-robot/workspace.html b/content/posts/delta-robot/workspace.html new file mode 100644 index 0000000..f570f9e --- /dev/null +++ b/content/posts/delta-robot/workspace.html @@ -0,0 +1,79519 @@ + + + +
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