The Delta Robot uses an Arduino Duemilonove to translate signals from a Wii Nunchuk to a servo output.
The Wii Nunchuk connects to the analog inputs of the Arduino board via an adapter, and open source code was used to interpret the signal into analog values.  Detailed instructions are found here.

The encoded value of the joystick and digital output of the buttons correspond to an incremental addition or subtraction to the desired position of the effector.  The desired xyz position is then run through inverse kinematic equations (see How It Works) to yield an angle for the servos.  The Arduino outputs a PWM (pulse-width modulation) signal to the servos to produce this angle and achieve the desired position. 

Key functions: if, for, constrain, map, myservo.write

Jennifer Lew,
Dec 7, 2010, 8:46 PM