| Name | Description |
|---|
| jointsCoordinates | Return a vector with the coordinates of the disc's joints resolved in the disc frame |
| actuatorsJointsRotationAngles | Return the rotation angles in degrees with axes sequence {3,1,3} to rotate the base/platform frame into the frames of the actuators joints |
| inverseKinematic | Return the angles of the three actuators for a given platform position |
| upperArmsDirections | Return three vectors resolved in base frame that represent the three upper arms for a given platform position |
| parallelogramDirections | Return three vectors resolved in base frame that represent the three long sides of the parallelograms for a given platform position |
| parallelogramAngles | Return the angles to initialize the parallelograms |
| checkLimits | Return 'true' if all Delta Robot angles are within the valid ranges specified, return 'false' otherwise |