Scalable motion control system
AssigneeBrooks Automation, Inc.
InventorsMartin Hosek, Stuart Beale, Roumen Botev, Matthew Coady, Christopher Hofmeister, Mark Ives, Jairo Moura, Robert Caveney
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Abstract
A control system includes a clustered architecture having a master controller, a central control section including one or more first remote controllers under direct control of the master controller, and a distributed control section including a cluster controller controlled by the master controller. The cluster controller controls the activities of one or more second remote controllers. Each of the first and second remote controllers are utilized to drive one or more axes.
Claims34
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.
A clustered architecture robotic control system comprising:
- a master controller;
- a central control section including one or more autonomous 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 over a network between the master controller and the one or more autonomous remote controllers;
- a distributed control section including:
- one or more cluster controllers controlled by the master controller;
- one or more cluster remote controllers utilized to drive one or more second axes of motion, controlled by each cluster controller, wherein control and feedback loops are closed over the network between the one or more cluster remote controllers and their cluster controller,
- wherein a network node of the clustered architecture motion control system operates to:
- calculate an operating parameter value for an end effector of a first or second axis of motion;
- and
- generate a motion profile for an individual joint of the first or second axis of motion for which the value was calculated, such that a motion profile for the end effector does not exceed the operating parameter value.
A method of operating a clustered architecture motion control system comprising:
- utilizing one or more first remote controllers to drive one or more first axes of motion under direct control of a master controller;
- wherein control and feedback loops are closed over a network between the master controller and the one or more first remote controllers;
- utilizing one or more second remote controllers to drive one or more second axes of motion under control of a cluster controller controlled by the master controller, wherein control and feedback loops are closed over the network between the cluster controller and the one or more second remote controllers;
- calculating an operating parameter value for an end effector of at least one of the 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.
Dependencies are inferred from the claim text.