Delta Robot Kinematics Forward Kinematics Joint angles to position of the end effector. Given $(\theta_1, \theta_2, \theta_3)$, find $(x, y, z)$ $$ [(R+Lcos\theta_i-r)cos\varphi_i-x]^2 + [(R+Lcos\theta_i-r)sin\varphi_i-y]^2 + [-Lsin\theta_i-z]^2 = La^2 $$ Inverse Kinemtaics Position of the end effector to required joint angles. Given $(x, y, z)$, find $(\theta_1, \theta_2, \theta_3)$, wherein $(\varphi_i=\frac{2(i-1)}{3}\pi), (i=1,2,3)$ Dynamics Workspace Appendix Open Source Delta-X 工作空间