Patent ID: 7904182

Claim:
A clustered architecture motion control system comprising: a master controller; a central control section including one or more first remote controllers utilized to drive one or more first axes of motion under direct control of the master controller, wherein control and feedback loops are closed between the master controller and the one or more first remote controllers; a distributed control section including: a cluster controller controlled by the master controller; one or more second remote controllers utilized to drive one or more second axes of motion, controlled by the cluster controller, wherein control and feedback loops are closed between the cluster controller and the one or more second remote controllers; wherein at least one of the master controller, first remote controllers, and second remote controllers includes a processor configured for: calculating an operating parameter value for an end effector of the one or more first or second axes of motion; and generating a motion profile for an individual joint of the one or more first or second axes of motion for which the operating parameter value was calculated, such that a motion profile for the end effector does not exceed the operating parameter value.