If you don't monitor the Machinekit group (you should), over the weekend John Morris announced the availability of binary packages for Machinekit and it's required dependencies (at least the ones that are not already in the Debian archives).
If you're trying to build a minimal system (particularly helpful on the BealgeBone with it's limited eMMC rootfs), this is welcome news indeed!
I will be updating my build scripts and the resulting images to use the pre-built packages soon, meaning you'll be able to simply "apt-get update" and "apt-get upgrade" to get the latest official Machinekit release. Until then, feel free to add the pre-built packages to your existing install, the run-in-place development version and the installed packages should work side-by-side and should not interfere with each other. Instructions can be found at the package repository website.
If you run into any problems, let us know on the Machinekit list.