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New tags and Delta robot first project

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Sharwin24 2025-02-25 11:20:31 -06:00
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8
content/posts/delta-robot/index.md
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@ -10,7 +10,7 @@ menu:
name: Delta Robot
identifier: delta-robot
weight: 4
tags: ["ROS2", "C++", "Parallel Robot Kinematics"]
tags: ["ROS2", "C++", "Parallel Robot Kinematics", "I2C Sensors", "Kalman Filtering"]
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.
@ -20,8 +20,8 @@ An open source ROS package for controlling delta robots with forward and inverse
The robot's forward and inverse kinematics were first implemented in a jupyter notebook to visualize the robot's configuration space and workspace.
<div align="center">
<img src="FK_notebook.png" alt="Robot Simulated in 3D Plot" style="border-radius: 15px; height: 200px; margin-left: 5px;">
<img src="DeltaCircleTrajectory.gif" alt="Delta Robot Circular Trajectory" style="border-radius: 15px; height:200px; margin-right: 5px;">
<img src="FK_notebook.png" alt="Robot Simulated in 3D Plot" style="border-radius: 15px; height: 200px; margin-left: 5px; display: inline-block;">
<img src="DeltaCircleTrajectory.gif" alt="Delta Robot Circular Trajectory" style="border-radius: 15px; height: 200px; margin-right: 5px; display: inline-block;">
</div>
The forward and inverse kinematics were then implemented in C++ following the approach described on the Trossen Robotics forum [1].
@ -125,6 +125,8 @@ void DeltaKinematics::inverseKinematics(const std::shared_ptr<DeltaIK::Request>
```
## End-Effector Sensors
| Sensor | Image | Description |

35
data/en/sections/projects.yaml
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@ -21,14 +21,15 @@ section:
# your projects
projects:
- name: Simulation of a Mobile Manipulator
image: /images/mobile_manipulation.gif
role: "ME449: Robotic Manipulation Final Project"
timeline: "Nov 2024 - Dec 2024"
repo: https://github.com/Sharwin24/Mobile-Manipulation
url: "/posts/mobile-manipulation/"
summary: Simulating a pick and place task with the KUKA YouBot using a task-space feed-forward PID controller and Odometry.
tags: ["Python", "CoppeliaSim", "Odometry", "PID Control", "Omnidirectional Robot Kinematics"]
- name: Open Source Delta Robot
image: /images/delta_robot.jpg
role: "MSR Winter Project"
timeline: "Jan 2025 - March 2025"
url: "/posts/delta-robot/"
repo: https://github.com/Sharwin24/DeltaRobot
summary: An open source ROS package for kinematic control and motion planning for delta robots.
tags: ["ROS2", "C++", "Parallel Robot Kinematics", "I2C Sensors", "Kalman Filtering"]
- name: Toasting Bread with a Franka Robot Arm
image: /images/toast_grab.gif
@ -48,14 +49,14 @@ projects:
summary: An robotic system that faciliates a game of poker with automated shuffling, dealing, and game management.
tags: ["Arduino", "Python", "Raspberry Pi", "I2C", "Stepper Motors", "Solidworks"]
- name: Open Source Delta Robot
image: /images/delta_robot.jpg
role: "MSR Winter Project"
timeline: "Jan 2025 - March 2025"
url: "/posts/delta-robot/"
repo: https://github.com/Sharwin24/DeltaRobot
summary: An open source ROS package for kinematic control and motion planning for delta robots.
tags: ["ROS2", "C++", "Parallel Robot Kinematics", "I2C Sensors", "Kalman Filtering"]
- name: Simulation of a Mobile Manipulator
image: /images/mobile_manipulation.gif
role: "ME449: Robotic Manipulation Final Project"
timeline: "Nov 2024 - Dec 2024"
repo: https://github.com/Sharwin24/Mobile-Manipulation
url: "/posts/mobile-manipulation/"
summary: Simulating a pick and place task with the KUKA YouBot using a task-space feed-forward PID controller and Odometry.
tags: ["Python", "CoppeliaSim", "Odometry", "PID Control", "Omnidirectional Robot Kinematics"]
- name: Chess Robot
role: "NEU Robotics Club Project"
@ -109,7 +110,7 @@ projects:
url: "/posts/robo-tech/"
repo: https://github.com/Sharwin24/RoboTech
summary: A simulation of a swarm of drones cleaning algal blooms in a lake using RRT and A* path planning.
tags: ["Python", "RRT", "A*"]
tags: ["Python", "RRT", "A*", "Pygame"]
- name: Napkin.ai Code Assistant
role: "Hack@Brown 2024 Project"