During my internship at OMRON Industrial Automation I developed a visualiser for parallel robots in ROS. The objective was to implement a visualiser for Delta robots in order to allow developers program and test their code without the physical robot.

Visualiser of Delta robots using ROS and EtherCAT from FelipMarti on Vimeo.

More information: http://www.ros.org/news/2015/04/visualizer-of-delta-robots-using-ros-and-ethercat.html