US 2025/0144791 A1 · Reduction of Inverse Kinematic Calculation Time

Abstract

Methods of reducing calculation time for inverse kinematics for a robotic arm are presented. An analytical solver is used based on design values for a robot type to generate an analytical solution of joint parameters to achieve a desired location of a tool center point of the robot type, wherein the robotic arm has the robot type. The analytical solution of joint parameters is provided as a seed value to a numerical solver for the robotic arm of the robot type. A numerical solution is determined using the numerical solver and the seed value, the numerical solution comprising joint parameters for the robotic arm to achieve the desired location of a tool center point of the robotic arm.

Claims20

Dependent claims

A method of reducing calculation time for inverse kinematics for a robotic arm comprising:

using an analytical solver based on design values of a robot type to generate an analytical solution of joint parameters to achieve a desired location of a tool center point of the robot type, wherein the robotic arm has the robot type;
providing the analytical solution of joint parameters as a seed value to a numerical solver for the robotic arm of the robot type;
and
determining a numerical solution using the numerical solver and the seed value, the numerical solution comprising joint parameters for the robotic arm to achieve the desired location of a tool center point of the robotic arm.

1 more element

Dependencies are inferred from the claim text.

Reduction of Inverse Kinematic Calculation Time

Life of this patent

Reduction of Inverse Kinematic Calculation Time

Life of this patent

Abstract

Claims20