LinuxCNC delta robot test

Delta robot with 50W AC servo motors and 50:1 harmonic reducers. Electromagnetic gripper. LinuxCNC (joints_axes3 experimental branch), MESA 7i34 and 7i48 with analog output, wireless joypad for manual control. Max actuators velocity 540deg/s, estimated peak torque 18Nm. The project is under development. Say, using inverse dynamics for actuators torque control sounds interesting. If possible with LinuxCNC. Some details at