Method and apparatus for controlling robot arms using elastic distortion simulations
US11745343B2 · kind B2 · utility
Inventors
Key dates
| Filing date | Nov 18, 2020 |
| Grant date | Sep 5, 2023 |
| Priority date | — |
| Expiry date | Sep 13, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40279
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The present disclosure generally relates to the field of robotics and computer animation, more particularly, method and apparatus to solve the inverse kinematics problem to control a kinematic chain such as a robot arm or an animation character's skeleton to reach a target position. The new method simulates a kinematic chain whose links and joints are elastic and can be distorted. The method distorts the kinematic chain to move its end to the target position, calculates distortions, and iteratively adjusts link and joint configurations of the kinematic chain to reduce distortions while keeping its end at the target position until a solution with near zero distortions is found. The resulting link and joint configurations of the simulated kinematic chain then can be used for the actual kinematic chain to reach the same target position.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.