You mean like the rostock?. This is the code for arduino (marlin modification for rostock). This is the inverse model, (input cartesian -cartesian array in the code- and output joint coordinates- delta array in the code-),
void calculate_delta(float cartesian[3]) { delta[X_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD) - sq(DELTA_TOWER1_X-cartesian[X_ AXIS]) - sq(DELTA_TOWER1_Y-cartesian[Y_AXIS]) ) + cartesian[Z_AXIS]; delta[Y_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD) - sq(DELTA_TOWER2_X-cartesian[X_AXIS]) - sq(DELTA_TOWER2_Y-cartesian[Y_AXIS]) ) + cartesian[Z_AXIS]; delta[Z_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD) - sq(DELTA_TOWER3_X-cartesian[X_AXIS]) - sq(DELTA_TOWER3_Y-cartesian[Y_AXIS]) ) + cartesian[Z_AXIS]; } But I think there is somebody playing with the Rostock and LCNC so a more direct answer should be available. Cheers, Javier On Wed, Jul 10, 2013 at 8:28 PM, Eric Keller <eekel...@psu.edu> wrote: > On Tue, Oct 23, 2012 at 11:38 PM, Charles Steinkuehler > <char...@steinkuehler.net> wrote: > > > The ultimate goal of all this is to make a delta-arm 3D printer and > > use kinematics in LinuxCNC for the tricky math bits that are hard to > > do on the AVR micro-controllers most 3D printers use for control. > > Now that I know more about delta robots, I was curious if anyone had > seen code for the kinematics for a linear delta robot? I have > articles about it, but would rather not code it up from scratch if I > don't have to do that. There is a topic on the Lcnc forum about this, > but the question remains unanswered. > > I blame Charles for my new-found obsession with delta robots. > Eric > > > ------------------------------------------------------------------------------ > See everything from the browser to the database with AppDynamics > Get end-to-end visibility with application monitoring from AppDynamics > Isolate bottlenecks and diagnose root cause in seconds. > Start your free trial of AppDynamics Pro today! > http://pubads.g.doubleclick.net/gampad/clk?id=48808831&iu=/4140/ostg.clktrk > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > ------------------------------------------------------------------------------ See everything from the browser to the database with AppDynamics Get end-to-end visibility with application monitoring from AppDynamics Isolate bottlenecks and diagnose root cause in seconds. Start your free trial of AppDynamics Pro today! http://pubads.g.doubleclick.net/gampad/clk?id=48808831&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users