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I am working using delta robot. I need to get robot coordination for camera screen position. camera is 80 cm away from robot center.

How to correctly compute direct kinematics for a delta robot?

I did check over post, but it is from robot to camera screen. when I input camera screen position, how I can calculate robot coordination?

xr = x - width / 2 
yr = y - 300 + self.moving_speed robot_angle = math.pi * 34 / 180 
robot_x = math.cos(-robot_angle) * xr - math.sin(-robot_angle) * yr 
robot_y = math.sin(-robot_angle) * xr + math.cos(-robot_angle) * yr 
robot_x = robot_x + 0.05 * robot_x 
robot_y = robot_y + 0.09 * (robot_y-180)
Jairus
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KhamNai
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  • Could you please provide an [MRE](https://stackoverflow.com/help/minimal-reproducible-example) or what code you attempted. – Jairus Jan 12 '21 at 14:29
  • xr = x - width / 2 yr = y - 300 + self.moving_speed robot_angle = math.pi * 34 / 180 robot_x = math.cos(-robot_angle) * xr - math.sin(-robot_angle) * yr robot_y = math.sin(-robot_angle) * xr + math.cos(-robot_angle) * yr robot_x = robot_x + 0.05 * robot_x robot_y = robot_y + 0.09 * (robot_y-180) this is my code. but I want to get position like over URL. – KhamNai Jan 12 '21 at 15:33
  • In your question, though formatted as code, please. You are trying to make your question at glance easy for other people to understand so they respond. – Jairus Jan 12 '21 at 15:48

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