Calculate the inverse kinematics

[TatianaResend]

The equations of the direct and inverse kinematics calculated initially do not represent a delta 2 robot, since initially a planar RR robot was thought (while a delta 2 robot consists of two arms of the planar RR type). It is necessary to calculate the equations of the direct and inverse kinematics of the delta 2 robot.

[TatianaResend]

I found this article that demonstrates the equations for direct and inverse kinematics, but the axes are different than what I want.

[TatianaResend]

In order to facilitate the kinematics, I can place the zero of the Z axis aligned with the motors. If you want to give the coordinates such as (0,0,0) to be the center point of the machine on the table plane, just make the z coordinate be (z+constant) where the constant is the distance from the motors line to the table.

[TatianaResend]