Distributed Dynamic Model for Multi-Axis Motion Control

A method for distributed multi-axis motion control, the method comprising the steps of:

• determining a plurality of axis commands within a controller as a function of a desired motion trajectory for a multi-axis system;
• transmitting at least one of the plurality of axis commands to each of a plurality of motor drives, wherein each of the plurality of motor drives controls operation of a motor for an axis corresponding to the axis command;
• determining a motion state for a link controlled by a first motor drive, selected from the plurality of motor drives, as a function of a first axis command received by the first motor drive;
• transmitting at least a portion of the motion state from the first motor drive to a second motor drive;
• and
• controlling operation of the axis corresponding to the second motor drive as a function of a second axis command received by the second motor drive and as a function of the portion of the motion state received from the first motor drive.

A method for distributed multi-axis motion control, the method comprising the steps of:

• determining a plurality of axis commands within a controller as a function of a desired motion trajectory for a multi-axis system;
• determining a velocity matrix and an acceleration matrix at each axis as a function of the plurality of axis commands;
• determining a wrench matrix in a second motor drive for a first motor drive;
• transmitting the wrench matrix from the second motor drive to the first motor drive;
• and
• controlling operation of a first motor with the first motor drive as a function of the axis command for an axis controlled by the first motor and as a function of the wrench matrix received from the second motor drive.