Extended development of LinuxCNC for control of a Delta robot

Abstract

In recent years, open architecture motion controllers, including those for CNC machines and robots, have received much interest and support among the global control and automation community. This paper presents work done in extending a well-known and supported open-source control software called LinuxCNC for the control of a Delta robot, a translational parallel mechanism. Key features in the development process are covered and discussed and the final customized system based on LinuxCNC described.