This article presents the efficacy of forward and inverse kinematic methods for tracking control in Delta robots. The kinematic model of the Delta robot with a general structure and motion equations is derived to calculate the forward and inverse kinematics problems. In particular, the forward kinematic approach is utilized to determine the end-effector’s position based on the joint variables, while the inverse kinematic approach calculates the necessary joint variables for achieving a desired end-effector position. To achieve precise trajectory tracking, a model-based control strategy is developed, which combines advanced mathematical computations with the kinematic model and employs PD controllers to enhance the tracking performance of the robotic system. The proposed control strategy ensures improved tracking accuracy and stability of the robotic system. The effectiveness of the proposed method is validated through comprehensive simulations with various scenarios on the model of a parallel robotic system.