Scalable motion control system
AssigneeBrooks Automation, Inc.
InventorsMartin Hosek, Stuart Beale, Roumen Botev, Matthew Coady, Christopher Hofmeister, Mark Ives, Jairo Moura, Robert Caveney
Life of this patent
Estimating the term…
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.
Claims21
A method of operating an axis of a control system comprising:
- generating a trajectory for the axis in terms of a position, velocity, and acceleration for each point of a plurality of points on the trajectory;
- calculating an inverse dynamic model accounting at least for dynamic cross-coupling of the axis to determine a gain value and a feedforward term for each point;
- and
- grouping the position, velocity, acceleration, gain value, and feedforward term for each point into a communication frame.
Dependencies are inferred from the claim text.