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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

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giridharanponnuvel/Delta-Robot-Inverse-Kinematics

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Delta-Robot-Inverse-Kinematics

This code is derived from the mathematical model as explained in the paper "The Delta Parallel Robot: Kinematics Solutions; Author:Robert L. Williams II, Ph.D.; Date: October 2016"