The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 26, 2016
Filed:
Feb. 28, 2013
Mda U.s. Systems, Llc, Pasadena, CA (US);
Kenneth S. Smith, Altadena, CA (US);
MDA U.S. Systems, LLC, Pasadena, CA (US);
Abstract
A controller determines a set of solutions to an inverse kinematic relationship relating received three axes position and orientation requirements defining a tool control point (TCP) of a robotic manipulator, the robotic manipulator including at least seven revolute joints, to a respective angular position of each of the seven revolute joints. The set of solutions specifies, in terms of an angular position of a first revolute joint proximate to a proximal end of the robotic manipulator, at least one set of angular positions of the second, third, fourth, fifth, sixth and seventh revolute joints. The set of solutions results from solving only closed-form mathematical expressions.