US 12,454,049 B2
Inverse kinematics computational solver system, method, and apparatus
Jess T. Leonard, Brier, WA (US)
Assigned to Krux Kinematics LLC, Brier, WA (US)
Filed by Krux Kinematics LLC, Brier, WA (US)
Filed on May 10, 2022, as Appl. No. 17/741,261.
Prior Publication US 2023/0364783 A1, Nov. 16, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1607 (2013.01) [G05B 2219/39001 (2013.01); G05B 2219/41405 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus for inverse kinematics, comprising:
a computer processor and a memory having stored therein computer-readable instructions; and
wherein the computer-readable instructions when executed by the processor configures the processor to perform a transformation of a kinematic chain and control movement of the kinematic chain based on the transformation of the kinematic chain, wherein the kinematic chain comprises a root, an effector, and at least a first mid-joint, wherein the first mid-joint is between the root and the effector, wherein the transformation includes moving the effector from a starting location to or toward (“to”) a target location, wherein to perform the transformation of the kinematic chain to move the effector from the starting location to the target location, the processor is configured to determine a subspace of the first mid-joint, and is configured to perform the transformation of the kinematic chain according to the subspace of the first mid-joint, wherein the kinematic chain comprises adjacent joints of the first mid-joint, wherein the adjacent joints of the first mid-joint comprise an effector-proximate joint and a root-proximate joint, wherein the effector-proximate joint is either the effector or a mid-joint closer to the effector than the first mid-joint and wherein the root-proximate joint is either the root or a mid-joint closer to the root than the first mid-joint, and wherein the processor upon executing the computer-readable instructions is configured to determine a first object around the effector-proximate joint and a second object around the root-proximate joint, is configured to determine an intersection of the first object and the second object (“intersection”), and is configured to determine the subspace of the first mid-joint according to a perimeter of the intersection, wherein the first object is determined by determining a three-dimensional space that at least partially surrounds the effector-proximate joint that a first link connected to the effector-proximate joint can freely rotate around the effector-proximate joint, and wherein the second object is determined by determining a three-dimensional space that at least partially surrounds the root-proximate joint that a second link connected to the root-proximate joint can freely rotate around the root-proximate joint.