Electronic expert for a budget robot project.

I am building a few devices for a project, one is a very task oriented 5-axis Scara robot with close loop stepper motors and servo motors, all connected with a CAN-bus and a few more devices. As I'm a mechanical designer, I need help from some who can architect the electronics and program it all, so it all moves organically smooth and is fast and without jerkiness. Do you have the skillset to make this happen? I am on a tight startup budget so lowest hourly bid best man wins, (only time tracker logging). But if the project becomes commercial successful (I have gotten a LOI mentioning $4M from ONE customer amongst many more interested ones, but we must deliver too), all project participants will enjoy its fruits for years to come.