Coordinated joint motion control system

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. Modelling of the desired trajectory of the end effector in system space can be avoided. The invention includes image generation and matching systems.

1 - 32 . (canceled) 
     
     
         33 . A tangible computer-readable storage medium storing computer-executable instructions for causing a computer system programmed thereby to perform a method comprising:
 outputting to a display device a menu of virtual kinematics configurations, each virtual kinematics configuration comprising a plurality of trajectory paths of a user-manipulable implement, each trajectory path comprising at least two dimensions;   calculating velocity components for at least one of the plurality of trajectory paths using a model-based forward predictor;   modifying the velocity components based on signals received from an input device to provide modified velocity components;   generating a position-dependent inverse kinematics model of the modified velocity components; and   based on the position-dependent inverse kinematics model, outputting the modified velocity components to at least one of a plurality of control connections associated with a plurality of joints of the user-manipulable implement.   
     
     
         34 . The computer readable storage medium of  claim 33 , the method further comprising receiving signals from an input device regarding a virtual kinematics configuration selected by a user. 
     
     
         35 . The computer readable storage medium of  claim 33 , the method further comprising receiving signals from an input device for modifying the velocity components. 
     
     
         36 . A computer-implemented method of operating an apparatus comprising a user-manipulable implement comprising a plurality of joints, the method comprising:
 outputting to a display device a menu of virtual kinematics configurations, each virtual kinematics configuration comprising a plurality of trajectory paths of a user-manipulable implement, each trajectory path comprising at least two dimensions;   calculating velocity components for at least one of the plurality of trajectory paths using a model-based forward predictor;   modifying the velocity components based on signals received from an input device to provide modified velocity components;   generating a position-dependent inverse kinematics model of the modified velocity components; and   based on the position-dependent inverse kinematics model, outputting the modified velocity components to at least one of a plurality of control connections associated with a plurality of joints of the user-manipulable implement.   
     
     
         37 . A method comprising:
 storing on a computer-readable storage medium computer-executable instructions for causing a computer system programmed thereby to perform acts comprising:   outputting to a display device a menu of virtual kinematics configurations, each virtual kinematics configuration comprising a plurality of trajectory paths of a user-manipulable implement, each trajectory path comprising at least two dimensions;   calculating velocity components for at least one of the plurality of trajectory paths using a model-based forward predictor;   modifying the velocity components based on signals received from an input device to provide modified velocity components;   generating a position-dependent inverse kinematics model of the modified velocity components; and   based on the position-dependent inverse kinematics model, outputting the modified velocity components to at least one of a plurality of control connections associated with a plurality of joints of the user-manipulable implement.   
     
     
         38 . A system comprising:
 a processor;   the tangible computer readable storage medium of  claim 33 .   
     
     
         39 . The system of  claim 38 , further comprising a display. 
     
     
         40 . The system of  claim 38 , further comprising an input device, the input device configured to generate signals allowing an operator to select a virtual kinematics configuration from the displayed menu. 
     
     
         41 . The system of  claim 38 , further comprising an input device, the input device configured to generate signals modifying the velocity components.