Coordinated joint motion control system
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0 Petitions
Accused Products
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.
136 Citations
64 Claims
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1-32. -32. (cancelled)
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33. A coordinated joint control system for controlling a coordinated joint motion system, the coordinated joint motion system comprising:
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a) a support system;
b) an end effector movable relatively to the support system by the joint motion system;
c) multiple links to link the end effector to the support system;
d) multiple joints connecting the multiple links one to another, to the support system and to the end effector, each joint permitting relative movement between the members directly connected by the respective joint;
e) multiple actuators to effect said relative movement between the connected members, the multiple actuators being controlled by the coordinate joint control system; and
f) an operator interface;
wherein the coordinated joint motion system is capable of execution of an automated end effector trajectory without human intervention and can receive inputs through the operator interface enabling a human supervisor to change the end effector motion or position or motion and position during execution of the automated trajectory. - View Dependent Claims (34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48)
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49. A coordinated joint control imaging system for imaging a coordinated joint motion system, the coordinated joint motion system comprising:
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a) a support system;
b) an end effector movable relative to the support system by the joint motion system;
c) multiple links to link the end effector to the support system;
d) multiple joints connecting the multiple links one to another and to the support system and the end effector, each joint permitting relative movement between the connected members; and
e) multiple actuators to effect said relative movement between the connected members, the multiple actuators being controlled by the coordinate joint control system;
wherein the imaging system comprises an internal feedback loop to determine a mathematical model of the coordinated joint motion system and provide a model-based forward predictor for directly controlling the joint actuators, optionally by employing a differential control architecture. - View Dependent Claims (50, 51, 52, 53)
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54. A method for controlling a coordinated joint motion system, the coordinated joint motion system comprising:
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a) a support system;
b) an end effector movable relative to the support system by the joint motion system;
c) multiple links to link the end effector to the support system;
d) multiple joints connecting the multiple links one to another and to the support system and the end effector, each joint permitting relative movement between the connected members; and
e) multiple actuators to effect said relative movement between the connected members, the multiple actuators being controlled by the coordinate joint control system;
the method comprising execution of an automated end effector trajectory without human intervention;
and including a human supervisor changing the end effector motion or position during execution of the automated trajectory. - View Dependent Claims (55, 56, 57, 58, 59, 60, 61, 62, 63, 64)
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Specification