TY  - CONF
AU  - Erwinski, Krystian
AU  - Karasek, Gabriel
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Slavković, Nikola
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4646
AB  - 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.
AB  - U ovom radu je predstavljena laboratorijska postavka za razvoj algoritama optimizacije trajektorije numerički upravljanih mašina alatki sa spegnutim osama. Laboratorijsku postavku čine DELTA mehanizam u KEOPS konfiguraciji sa linearnim osnaženim osama pogonjenih servo pogonima visokih performansi. Upravljanje mašinom je bazirano na LinuxCNC softverskom sistemu. Komunikacija pri upravljanju se vrši u realnom vremenu preko EtherCAT-a. U radu je takođe opisano proširenje LinuxCNC upravljačkog sistema sa NURBS interpolacijom i profilisanjem brzine pomoćnog kretanja pomoću s-krive. Dalja istraživanja će se odnositi na razvoj algoritama optimizacije trajektorije za mašine alatke sa paralelnom kinematikom.
PB  - University of Belgrade, Faculty of Mechanical Engineering
C3  - 43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings
T1  - Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT
EP  - 3.54
SP  - 3.47
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4646
ER  - 

@conference{
author = "Erwinski, Krystian and Karasek, Gabriel and Živanović, Saša and Dimić, Zoran and Slavković, Nikola",
year = "2022",
abstract = "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., U ovom radu je predstavljena laboratorijska postavka za razvoj algoritama optimizacije trajektorije numerički upravljanih mašina alatki sa spegnutim osama. Laboratorijsku postavku čine DELTA mehanizam u KEOPS konfiguraciji sa linearnim osnaženim osama pogonjenih servo pogonima visokih performansi. Upravljanje mašinom je bazirano na LinuxCNC softverskom sistemu. Komunikacija pri upravljanju se vrši u realnom vremenu preko EtherCAT-a. U radu je takođe opisano proširenje LinuxCNC upravljačkog sistema sa NURBS interpolacijom i profilisanjem brzine pomoćnog kretanja pomoću s-krive. Dalja istraživanja će se odnositi na razvoj algoritama optimizacije trajektorije za mašine alatke sa paralelnom kinematikom.",
publisher = "University of Belgrade, Faculty of Mechanical Engineering",
journal = "43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings",
title = "Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT",
pages = "3.54-3.47",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4646"
}

Erwinski, K., Karasek, G., Živanović, S., Dimić, Z.,& Slavković, N.. (2022). Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT. in 43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings
University of Belgrade, Faculty of Mechanical Engineering., 3.47-3.54.
https://hdl.handle.net/21.15107/rcub_machinery_4646

Erwinski K, Karasek G, Živanović S, Dimić Z, Slavković N. Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT. in 43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings. 2022;:3.47-3.54.
https://hdl.handle.net/21.15107/rcub_machinery_4646 .

Erwinski, Krystian, Karasek, Gabriel, Živanović, Saša, Dimić, Zoran, Slavković, Nikola, "Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT" in 43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings (2022):3.47-3.54,
https://hdl.handle.net/21.15107/rcub_machinery_4646 .