The code is derived from the mathematical model as explained in the paper "The Delta Parallel Robot: Kinematics Solutions by Robert L. Williams II, Ph.D". Refer Page: 3-6 & 11-12
Home Page:https://www.researchgate.net/file.PostFileLoader.html?id=58bd7d14404854027f09f5d0&assetKey=AS%3A468931250003970%401488813330544
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