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

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.