First let me say welcome to the site.
It can be as easy as installing linux / linuxcnc (the ISO found on the linuxcnc.org home page) on an older computer. I prefer the Dell Optiplex 9020 small form factor. Purchase the Mesa 7i96S ethernet breakout board and install it in a control box. Then start connecting it to the various components of your machine.
I highly recommend you download and read the manual, lots of good information in their. And keep your first install as simple as possible. Maybe a CNC 3 axis router. Their can be a huge learning curve when you make the install do a lot of custom things
( like running a pick and place machine ). I would know. LOL.
As far as capability the program can run 9 separate axis, a meriod of solenoids, open loop stepper motors, high resolution servo's , Lasers, Filement extuders , Tool changers, Video cameras, and multiple VFD's with a custom user interface if one was so inclined.
Basically if its in need of computer control and it moves something in the real world ( almost any kind of robot )
with G or M code Linuxcnc can do it . You're really just limited by your imagination and your drive to find the solution to a problem.
Lastly their's a large group of seasoned vets on this site who can help. Best of luck on your project and see you around the forum.
