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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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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 |