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)