There's a lot of similarities, but there is one MAJOR difference. On the first version, I faked the movements. The robot basically moved around to several preprogrammed positions. It didn't really do any mathematical calculations. But now I have found someone who has done those calculations and he was kind enough to share lots (all) of the mathematics I need to make this thing pretty impressive. He even did a complete and thorough tutorial on the Trossen robotics page. See it here. I have been following his instructions and they are quite good. If you want to build a complete Flexpicker Delta robot and don't know where to start with the programming and Math, go here. It's pretty involved though, so if you don't have a strong stomach for 3D geometry and Math, be warned.
I am confident that his programming works because he has a great video that can be found on the tutorial.