I am running a delta robot via kinematics as in attached file. The problem is that the moving plate is not always parallel to the fixed plate although the geometry of the robot is perfect. There is probably something wrong with the code. I am looking for a programmer with experience with delta robot kinematics to fix this issue.
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I am a mechatronics and robotics engineer, I could help you with the kinematics and make the code correctly according to correct robotics methodology, contact me for further discussion.