Coordinated joint motion control system with position error correction

Abstract

Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

1 - 19 . (canceled) 
     
     
         20 . An articulated hydraulic machine supporting an end effector for performing useful work, the articulated hydraulic machine comprising a control system capable of controlling the end effector according to discrete user inputs to control one or more of the speed of the end effector, the movement direction of the end effector, and the angle of an edge of the end effector relative to the director of movement of the end effector, wherein the control system allows a user to manually control certain aspects of end effector movement with other aspects being controlled by the control system.