Title:
COORDINATED JOINT MOTION CONTROL SYSTEM
Document Type and Number:
WIPO Patent Application WO2003021365
Kind Code:
B1
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 rela-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. (Fig. 6, 100, 144, 162, 152)
Inventors:
DANKO GEORGE (US)
Application Number:
PCT/US2002/027860
Publication Date:
June 26, 2003
Filing Date:
September 03, 2002
Export Citation:
Assignee:
UNIV COMMUNITY COLLEGE SYS NEV (US)
DANKO GEORGE (US)
DANKO GEORGE (US)
International Classes:
B25J9/16; E02F3/43; E02F9/20; (IPC1-7): G05B19/18
Download PDF: