| 摘要 |
<p>A coordinated joint control system for controlling a coordinated joint motio n system, e.g. an articulated arm of a hydraulic excavator blends automation o f 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 en d effector in system space can be avoided. The invention includes image generation and matching systems. (Fig. 6, 100, 144, 162, 152)</p> |
