JACoW is a publisher in Geneva, Switzerland that publishes the proceedings of accelerator conferences held around the world by an international collaboration of editors.
TY - CONF AU - Horita, A.Y. AU - Del Nero, F.A. AU - Kontogiorgos, G.N. AU - Moraes, M.A.L. AU - Silva, G.G. ED - Furukawa, Kazuro ED - Yan, Yingbing ED - Leng, Yongbin ED - Chen, Zhichu ED - Schaa, Volker R.W. TI - Hexapod Control System Development Towards Arbitrary Trajectories Scans at Sirius/LNLS J2 - Proc. of ICALEPCS2021, Shanghai, China, 14-22 October 2021 CY - Shanghai, China T2 - International Conference on Accelerator and Large Experimental Physics Control Systems T3 - 18 LA - english AB - Modern 4th generation synchroton facilities demand high precision and dynamic manipulation systems capable of fine position control, aiming to improve the resolution and perfomance of their experiments. In this context, hexapods are widely used to obtain a flexible and accurate 6 Degrees of Freedom (DoF) positioning system, as they are based on Parallel Kinematic Mechanisms (PKM). Aiming the customization and governability of this type of motion control system, a software application was entirely modeled and implemented at Sirius. A Bestec hexapod was used and the control logic was embedded into an Omron Delta Tau Power Brick towards the standardization of Sirius control solutions with features which completely fill the beamline scan needs, e.g. tracing arbitrary trajectories. Newton-Raphson numerical method was applied to implement the PKM. Besides, the kinematics was implemented in C language, targeting a better runtime performance when comparing to script languages. This paper describes the design and implementation methods used in this control application development and presents its resulting performance. PB - JACoW Publishing CP - Geneva, Switzerland SP - 84 EP - 89 KW - controls KW - target KW - acceleration KW - software KW - experiment DA - 2022/03 PY - 2022 SN - 2226-0358 SN - 978-3-95450-221-9 DO - doi:10.18429/JACoW-ICALEPCS2021-MOBR03 UR - https://jacow.org/icalepcs2021/papers/mobr03.pdf ER -