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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 name: Delta Robot
identifier: delta-robot identifier: delta-robot
weight: 4 weight: 4
tags: ["ROS2", "C++", "Parallel Robot Kinematics"] tags: ["ROS2", "C++", "Parallel Robot Kinematics", "I2C Sensors", "Kalman Filtering"]
repo: https://github.com/Sharwin24/DeltaRobot 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. 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. 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"> <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="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;"> <img src="DeltaCircleTrajectory.gif" alt="Delta Robot Circular Trajectory" style="border-radius: 15px; height: 200px; margin-right: 5px; display: inline-block;">
</div> </div>
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].
@ -125,6 +125,8 @@ void DeltaKinematics::inverseKinematics(const std::shared_ptr<DeltaIK::Request>
``` ```
## End-Effector Sensors ## End-Effector Sensors
| Sensor | Image | Description | | Sensor | Image | Description |

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