Delta 3D printers can significantly increase throughput in additive manufacturing by enabling faster and more precise motion compared to traditional serial-axis 3D printers. Further improvements in motion speed and part quality can be realized through model-based feedforward vibration control, as demonstrated on several serial-axis 3D printers. However, delta 3D printers have not benefited from model-based controllers because their position-varying, coupled nonlinear dynamics are difficult to model accurately.