R can be run on the cluster either interactively or in batch mode. In either case, you must use the scheduler to allocate yourself a compute node, rather than running R on the login node. See your respective scheduler documentation for instructions.
To run R in batch mode, you would create a batch script in the normal way. In that script, you would invoke your R script in batch mode, i.e.:
$ R --slave -f myscript.R