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US5847716A
Expired / Lapsed
US
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Manipulation of graphic structures using inverse kinematics
Assignee: Alias Systems Corp
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Filing: 1996-07-31
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Granted: 1998-12-08
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Expires: 2016-07-31
Abstract
Abstract A graphic structure having joint angles is manipulated from an initial configuration towards a goal configuration by a succession of iterations, in each of which an update configuration is derived from a prior configuration. A regular iteration determines at least one test configuration by modifying fewer than all of the joint angles of the prior configuration, determines, for each test configuration, an improvement value reflecting the improvement between the differences of the prior configuration and the test configuration with respect to the goal configuration, and selects a test configuration as the updated configuration based on the improvement values.
Inventors
- 👤 Roy Hashimoto
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 09:47
CPC Classifications
G; G06; G06T; G06T13/00; G06T13/20; G06T13/40
Claims Analysis
Total Claims: 22
Claim 1
Independent Claim
105 words
A computer-implemented method of manipulating a graphic structure having joint angles from an initial configuration towards a goal configuration by a succession of iterations, in each of which an update configuration is derived from a prior configuration, the method comprising in a regular iteration: determining at least one test configuration by modifying fewer than all of the joint angles of the prior configuration; determining, for each test configuration, an improvement value reflecting the improvement between the differences of the prior configuration and the test configuration with respect to the goal configuration; and selecting a test configuration as the updated configuration based on the improvement values.
Claim 2
Dependent Claim
105 words
A computer-implemented method of manipulating a graphic structure having joint angles from an initial configuration towards a goal configuration by a succession of iterations, in each of which an update configuration is derived from a prior configuration, the method comprising in a regular iteration: determining at least one test configuration by modifying fewer than all of the joint angles of the prior configuration; determining, for each test configuration, an improvement value reflecting the improvement between the differences of the prior configuration and the test configuration with respect to the goal configuration; and selecting a test configuration as the updated configuration based on the improvement values.
Claim 3
Dependent Claim
19 words
The method of claim 1, wherein determining each test configuration modifies a single joint angle of the prior configuration.
Claim 4
Dependent Claim
22 words
The method of claim 1 further comprising assigning the updated configuration as the goal configuration if the updated configuration satisfies termination criterion.
Claim 5
Dependent Claim
43 words
The method of claim 3, further comprising determining an error value between the updated configuration and the goal configuration, wherein the termination criterion is met if the error value of the updated configuration indicates that the difference is less than a predetermined threshold.
Claim 6
Dependent Claim
52 words
The method of claim 1 further comprising: evaluating convergence of the graphic structure towards the goal configuration based on successive iterations; and if the convergence evaluation meets alternate method criteria, using an alternate iteration method which determines test configurations by modifying up to all of the joint angles of the prior configuration.
Claim 7
Dependent Claim
45 words
The method of claim 5, wherein the alternate iteration method further comprises: identifying a pattern of joint angles that have been updated in successive iterations; and determining the updated configuration from the prior configuration by modifying each of the joint angles in the identified pattern.
Claim 8
Dependent Claim
54 words
The method of claim 6, wherein: identifying the pattern of joint angles further comprises determining increments by which each of the pattern angles was updated in the successive iterations; and determining the updated configuration further comprises modifying each of the joint angles by an increment based on the determined increments for the pattern angles.
Claim 9
Dependent Claim
26 words
The method of claim 1, wherein determining each test configuration determines a test configuration that minimizes a difference between the test configuration and the goal configuration.
Claim 10
Dependent Claim
50 words
The method of claim 1, wherein the graphic structure further comprises at least one end effector, the method further comprising: determining, for each test configuration, a test position for each end effector; and determining the improvement value for each test configuration based on the test positions of each end effector.
Claim 11
Dependent Claim
53 words
The method of claim 9, wherein determining each test configuration further comprises: calculating, for each test configuration, a partial derivative for each end effector with respect to the modified joint angles; and determining a test configuration that minimizes a difference between the test configuration and the goal configuration based on the partial derivatives.
Claim 12
Dependent Claim
118 words
A memory device storing computer-readable instructions for aiding a computer to manipulate a graphic structure having joint angles from an initial configuration towards a goal configuration by a succession of iterations, in each of which an update configuration is derived from a prior configuration, the instructions comprising for a regular iteration: instructions for determining at least one test configuration by modifying fewer than all of the joint angles of the prior configuration; instructions for determining, for each test configuration, an improvement value reflecting the improvement between the differences of the prior configuration and the test configuration with respect to the goal configuration; and instructions for selecting a test configuration as the updated configuration based on the improvement values.
Claim 13
Dependent Claim
118 words
A memory device storing computer-readable instructions for aiding a computer to manipulate a graphic structure having joint angles from an initial configuration towards a goal configuration by a succession of iterations, in each of which an update configuration is derived from a prior configuration, the instructions comprising for a regular iteration: instructions for determining at least one test configuration by modifying fewer than all of the joint angles of the prior configuration; instructions for determining, for each test configuration, an improvement value reflecting the improvement between the differences of the prior configuration and the test configuration with respect to the goal configuration; and instructions for selecting a test configuration as the updated configuration based on the improvement values.
Claim 14
Dependent Claim
22 words
The memory device of claim 11, wherein instructions for determining each test configuration modify a single joint angle of the prior configuration.
Claim 15
Dependent Claim
25 words
The memory device of claim 11, further comprising instructions for assigning the updated configuration as the goal configuration if the updated configuration satisfies termination criterion.
Claim 16
Dependent Claim
46 words
The memory device of claim 13, further comprising instructions for determining an error value between the updated configuration and the goal configuration, wherein the termination criterion is met if the error value of the updated configuration indicates that the difference is less than a predetermined threshold.
Claim 17
Dependent Claim
57 words
The memory device of claim 11 further comprising: instructions for evaluating convergence of the graphic structure towards the goal configuration based on successive iterations; and instructions for using an alternate iteration method which determines test configurations by modifying up to all of the joint angles of the prior configuration, if the convergence evaluation meets alternate method criteria.
Claim 18
Dependent Claim
52 words
The memory device of claim 15, further comprising instructions for the alternate iteration method, including: instructions for identifying a pattern of joint angles that have been updated in successive iterations; and instructions for determining the updated configuration from the prior configuration by modifying each of the joint angles in the identified pattern.
Claim 19
Dependent Claim
63 words
The memory device of claim 16, wherein: instructions for identifying the pattern of joint angles further comprise instructions for determining increments by which each of the pattern angles was updated in the successive iterations; and instructions for determining the updated configuration further comprise instructions for modifying each of the joint angles by an increment based on the determined increments for the pattern angles.
Claim 20
Dependent Claim
29 words
The memory device of claim 11, wherein instructions for determining each test configuration determine a test configuration that minimizes a difference between the test configuration and the goal configuration.
Claim 21
Dependent Claim
55 words
The memory device of claim 11, wherein the graphic structure further comprises at least one end effector, the instructions further comprising: instructions for determining, for each test configuration, a test position for each end effector; and instructions for determining the improvement value for each test configuration based on the test positions of each end effector.
Claim 22
Dependent Claim
60 words
The memory device of claim 19, wherein instructions for determining each test configuration further comprise: instructions for calculating, for each test configuration, a partial derivative for each end effector with respect to the modified joint angles; and instructions for determining a test configuration that minimizes a difference between the test configuration and the goal configuration based on the partial derivatives.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2001-12-07 | 2002-06-08 | 2002-12-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-12-07 | 2006-06-08 | 2006-12-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-12-07 | 2010-06-08 | 2010-12-08 | $7700.00 | Window Closed / Lapsed |