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Sharwin24 44cc088232 moved delta robot up
2025-02-19 14:56:10 -06:00

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Delta Robot ROS Package 2025-01-06T09:00:00+00:00 Open Source Delta Robot ROS Package images/delta_robot.jpg
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name identifier weight
Delta Robot delta-robot 4
ROS2
C++
Parallel Robot Kinematics
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.

Kinematic Simulation

The robot's forward and inverse kinematics were first implemented in a jupyter notebook to visualize the robot's configuration space and workspace. Eventually, the kinematics will be implemented into ROS2 C++ nodes with optimizations for fast computation.

Delta Robot Circular Trajectory Robot Simulated in 3D Plot

End-Effector Sensors

BNO085 IMU

IMU

The BNO085 IMU has the following features:

  • Acceleration Vector / Accelerometer
    • Three axes of acceleration (gravity + linear motion) in m/s^2
  • Angular Velocity Vector / Gyro
    • Three axes of 'rotation speed' in rad/s
  • Magnetic Field Strength Vector / Magnetometer
    • Three axes of magnetic field sensing in micro Tesla (uT)
  • Linear Acceleration Vector
    • Three axes of linear acceleration data (acceleration minus gravity) in m/s^2
  • Gravity Vector
    • Three axes of gravitational acceleration (minus any movement) in m/s^2
  • Absolute Orientation/ Rotation Vector
    • Four point quaternion output for accurate data manipulation

Thanks to the sensor fusion and signal processing wizards from CEVA, with the BNO085 you also get:

  • Application Optimized Rotation Vectors - For AR/VR, low latency, and low power consumption
  • Additional Base Sensor Reports
    • Separate and simultaneous outputs of Calibrated, Uncalibrated + Correction, and Raw ADC outputs for the Accelerometer, Gyro, and Magnetometer
  • Detection and Classification reports:
    • Stability Detection and Classification
    • Significant Motion Detector
    • Tap, Step, and Shake Detectors
    • Activity Classification

VL53L1X Time of Flight Distance Sensor

Time of Flight Sensor

The VL53L1X ToF Sensor is capable of precise distance measurement within a range of 30 to 4000 mm, with up to a 50Hz update rate and a 27 degree field of view which can be configured with a programmable Region of Interest (ROI).