Let me start off by saying that I am currently going to university majoring in computer engineering. I love software/hardware and I especially love robotics and I want to apply my knowledge of software/hardware in robots. I have never taken a formal class on robotics, so I don't really know where to start or how to approach the mathematics that robots entail.
Currently, I am interested in calculating the inverse kinematics of a delta robot. To clarify a bit more, I am trying to determine the required joint angles that will position the end-effector of the delta robot to a specific location given some x,y,z coordinate. The delta robot that I will be basing my design off of is shown in the image below.
Based off of some research that I have been doing for the past few days, I found that the sort of mathematics involved are usually like those of Denavit-Hartenberg parameters, Jacobian matrices, etc. I am going to be honest, I have never encountered Denavit-Hartenberg parameters or Jacobian matrices and I don't even know how to apply these to solve the kinematics equations and let alone find the kinematics equations. Most of the articles that I have read, mainly deal with serial manipulator robots and the mathematics in finding the kinematics equations of those serial manipulators. I couldn't really find any good material or material that was easy to understand given my current situation on parallel manipulators.
I wanted to ask my question here in the hopes that someone in the community could direct me to where I can start on learning more on obtaining the inverse kinematics equations of parallel manipulators and solving those equations.
Any help will be much appreciated.