python - How to calculate position(x,y,z) for delta robot from camera screen position?

Question

I am working using delta robot. I need to get robot coordination for camera screen position. camera is 80 cm away from robot center.

How to correctly compute direct kinematics for a delta robot?

I did check over post, but it is from robot to camera screen. when I input camera screen position, how I can calculate robot coordination?

xr = x - width / 2 
yr = y - 300 + self.moving_speed robot_angle = math.pi * 34 / 180 
robot_x = math.cos(-robot_angle) * xr - math.sin(-robot_angle) * yr 
robot_y = math.sin(-robot_angle) * xr + math.cos(-robot_angle) * yr 
robot_x = robot_x + 0.05 * robot_x 
robot_y = robot_y + 0.09 * (robot_y-180) 

Answer 1

等待大神答复