Control law of motion control of a delta robot adapted to digital systems with not high performance

The delta robot is a parallel robot, which means there is more than one kinematic chain from the base to the actuator of the robot. It has three translational and one rotational degree of freedom. The basic idea is the use of a parallelogram. These parallelograms restrict the movement of the final platform for precise displacements. Only translational movements of the platform and its maintenance parallel to the base plane are allowed.