Reconfigurable numerical control for multi level modular machine

A method for controlling a modular reconfigurable numerically controlled machine comprising:

• sending a first actuation signal to actuators of a primary structure of the numerically controlled machine to move at least a portion of the primary structure to a first modular component;
• attaching the first modular component to the primary structure;
• verifying that all of the connections between the first modular component and the primary structure have been made;
• processing kinematic data from a memory storage device of the first modular component;
• converting at least one of a plurality of local coordinates stored in the memory storage device to global coordinates;
• updating a graphical display to display data from the first modular component;
• sending a second actuation signal to actuators of the primary structure to move at least a portion of the primary structure and the first modular component to a second modular component;
• attaching the second modular component to the first modular component;
• verifying that all of the connections between the first modular component and the second modular component have been made;
• processing kinematic data from the memory storage device of the second modular component;
• converting the local coordinates stored in the memory storage device of the second modular component to global coordinates;
• and
• updating the graphical display to display data from the second modular component.