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 .

TY  - CONF
AU  - Paprocki, Marcin
AU  - Erwinski, Krystian
AU  - Živanović, Saša
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4637
AB  - This paper presents an H-Bot kinematics machine control system. The H-Bot machine accuracy depends on the servo drives' synchronous operation and mechanical design. Therefore, the mechanical axes' movement quality is influenced by the communication bus and the ability to detect backlash and elasticity in the machine axes. EtherCAT – an industrial bus will be used for communication between the controller and other machine control system elements. Each mechanical axis at the H-Bot machine is equipped with a position measurementsystem. The laboratory stand was equipped with accelerometers. It is planned to perform research in the
Predictive Maintenance and Trajectory Optimization field.
PB  - University of Belgrade, Faculty of Mechanical Engineering
C3  - 43rd JUPITER conference, 39th symposium NC-Robots-FTS : Proceedings
T1  - CNC machine laboratory stand with H-Bot parallel kinematics using the EtherCAT bus
EP  - 3.46
SP  - 3.39
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4637
ER  - 

@conference{
author = "Paprocki, Marcin and Erwinski, Krystian and Živanović, Saša",
year = "2022",
abstract = "This paper presents an H-Bot kinematics machine control system. The H-Bot machine accuracy depends on the servo drives' synchronous operation and mechanical design. Therefore, the mechanical axes' movement quality is influenced by the communication bus and the ability to detect backlash and elasticity in the machine axes. EtherCAT – an industrial bus will be used for communication between the controller and other machine control system elements. Each mechanical axis at the H-Bot machine is equipped with a position measurementsystem. The laboratory stand was equipped with accelerometers. It is planned to perform research in the
Predictive Maintenance and Trajectory Optimization field.",
publisher = "University of Belgrade, Faculty of Mechanical Engineering",
journal = "43rd JUPITER conference, 39th symposium NC-Robots-FTS : Proceedings",
title = "CNC machine laboratory stand with H-Bot parallel kinematics using the EtherCAT bus",
pages = "3.46-3.39",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4637"
}

Paprocki, M., Erwinski, K.,& Živanović, S.. (2022). CNC machine laboratory stand with H-Bot parallel kinematics using the EtherCAT bus. in 43rd JUPITER conference, 39th symposium NC-Robots-FTS : Proceedings
University of Belgrade, Faculty of Mechanical Engineering., 3.39-3.46.
https://hdl.handle.net/21.15107/rcub_machinery_4637

Paprocki M, Erwinski K, Živanović S. CNC machine laboratory stand with H-Bot parallel kinematics using the EtherCAT bus. in 43rd JUPITER conference, 39th symposium NC-Robots-FTS : Proceedings. 2022;:3.39-3.46.
https://hdl.handle.net/21.15107/rcub_machinery_4637 .

Paprocki, Marcin, Erwinski, Krystian, Živanović, Saša, "CNC machine laboratory stand with H-Bot parallel kinematics using the EtherCAT bus" in 43rd JUPITER conference, 39th symposium NC-Robots-FTS : Proceedings (2022):3.39-3.46,
https://hdl.handle.net/21.15107/rcub_machinery_4637 .