Coordinated joint motion control system

Details Coordinated joint motion control system Coordinated joint motion control system

2002-09-03

2008-11-25

Tran, Khoi H. (Department: 3664)

Data processing: vehicles, navigation, and relative location

Vehicle control, guidance, operation, or indication

Construction or agricultural-type vehicle

C700S213000, C700S245000, C700S262000, C414S001000

Reexamination Certificate

active

07457698

ABSTRACT:
A coordinated joint control system for controlling a coordinated joint motion system, e.g an articulated arm of a hydraulic excavator blends automation of routine tasks with real-time human supervisory trajectory correction and selection. One embodiment employs a differential control architecture utilizing an inverse Jacobian. Modeling of the desired trajectory of the end effector in system space can be avoided. The invention includes image generation and matching systems.

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