Published October 4, 2022 | Version v1
Journal article Open

Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT

Description

This paper presents a laboratory stand for investigating trajectory optimization algorithms for non-cartesian numerically controlled machines. The stand consists of a Delta machine in KEOPS configuration with linear motors controlled by high performance servo-drives. The machine is controlled by real-time control system with LinuxCNC software. The control is performed via real-time communication bus EtherCAT. The paper also describes the extension of the LinuxCNC control system with NURBS interpolaion and s-curve feedrate profiling. Also research to be performed on the machine is discussed concerning development of trajectory optimization algorithms for parallel kinematics machines.

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Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT.pdf

Additional details

Identifiers

ISBN
978-86-6060-137-9