Delta robot program help

[ViorelP]

Hello everyone.I'm a new user.I gotta do a delta robot (parallel robot).
I am using 3 stepper motors for driving.Please, can anyone help me with a program for direct and inverse kinematics?General program to calculate the angles for the motors.My robot have 3 degrees of freedom.I will attach a picture with it.

[RyanCahoon]

Google (https://www.google.com/search?q=delta+robot+kinematics) is (http://forums.trossenrobotics.com/tutorials/introduction-129/delta-robot-kinematics-3276/) your (https://docs.google.com/document/preview?id=1f0oR1DrETJFX1Mi70THgkI441vyJvKTlvnGkXn 4oko8) best (http://kvarc.extra.hu/step/motor/emc/emckinematics.html) friend (http://robotics.eecs.berkeley.edu/~ahoover/DeltaKin.html).

Welcome to the forums :)