How to correctly compute direct kinematics for a delta robot?
问题 I'm trying to put together a simple simulation for a delta robot and I'd like to use forward kinematics (direct kinematics) to compute the end effector's position in space by passing 3 angles. I've started with the Trossen Robotics Forum Delta Robot Tutorial and I can understand most of the math, but not all. I'm lost at the last part in forward kinematics, when trying to compute the point where the 3 sphere's intersect. I've looked at spherical coordinates in general but couldn't work out