Coordinated joint motion control system
OwnerGeorge Dankoinventor
Life of this patent
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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.
Claims10
1-32. (canceled)
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.
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.
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.
Dependencies are inferred from the claim text.