Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT
2022
Аутори
Erwinski, KrystianKarasek, Gabriel
Živanović, Saša
Dimić, Zoran
Slavković, Nikola
Остала ауторства
Babić, BojanŽivanović, Saša
Popović, Mihajlo
Конференцијски прилог (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
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.
Кључне речи:
parallel kinematics / real-time Linux / LinuxCNC / Delta / KEOPSИзвор:
43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings, 2022, 3.47-3.54Издавач:
- University of Belgrade, Faculty of Mechanical Engineering
Финансирање / пројекти:
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200105 (Универзитет у Београду, Машински факултет) (RS-MESTD-inst-2020-200105)
Колекције
Институција/група
Mašinski fakultetTY - 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 .