CUED Publications database

The Forward and Inverse Kinematics of a Delta Robot

Hadfield, H and Wei, L and Lasenby, J (2020) The Forward and Inverse Kinematics of a Delta Robot. In: Advances in Computer Graphics 37th Computer Graphics International Conference, CGI 2020, Geneva, Switzerland, October 20–23, 2020, Proceedings. Springer, pp. 447-458. (Unpublished)

Full text not available from this repository.


The Delta robot is one of the most popular parallel robots in industrial use today. In this paper we analyse the forward and inverse kinematics of the robot from a geometric perspective using Conformal Geometric Algebra. We calculate explicit formulae for all joints in both the forward and inverse kinematic problems as well as explicit forward and inverse Jacobians to allow for velocity and force control. Finally we verify the kinematics in Python and simulate a physical model in the Unity3D game engine to act as a test-bed for future development of control algorithms.

Item Type: Book Section
Divisions: Div F > Signal Processing and Communications
Depositing User: Cron Job
Date Deposited: 21 Oct 2020 21:07
Last Modified: 31 Aug 2021 06:50
DOI: 10.1007/978-3-030-61864-3_38