Приказ основних података о документу
Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT
dc.contributor | Babić, Bojan | |
dc.contributor | Živanović, Saša | |
dc.contributor | Popović, Mihajlo | |
dc.creator | Erwinski, Krystian | |
dc.creator | Karasek, Gabriel | |
dc.creator | Živanović, Saša | |
dc.creator | Dimić, Zoran | |
dc.creator | Slavković, Nikola | |
dc.date.accessioned | 2023-02-26T13:22:28Z | |
dc.date.available | 2023-02-26T13:22:28Z | |
dc.date.issued | 2022 | |
dc.identifier.isbn | 978-86-6060-137-9 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/4646 | |
dc.description.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. | sr |
dc.description.abstract | 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. | sr |
dc.language.iso | en | sr |
dc.publisher | University of Belgrade, Faculty of Mechanical Engineering | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/inst-2020/200105/RS// | sr |
dc.rights | openAccess | sr |
dc.source | 43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings | sr |
dc.subject | parallel kinematics | sr |
dc.subject | real-time Linux | sr |
dc.subject | LinuxCNC | sr |
dc.subject | Delta | sr |
dc.subject | KEOPS | sr |
dc.title | Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT | sr |
dc.type | conferenceObject | sr |
dc.rights.license | ARR | sr |
dc.citation.epage | 3.54 | |
dc.citation.rank | M63 | |
dc.citation.rank | M63 | |
dc.citation.spage | 3.47 | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/11184/Erwinski_Jupiter_2022.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_4646 | |
dc.type.version | publishedVersion | sr |