Manipulation of graphic structures
First Claim
1. A computer-implemented method for aiding manipulation of a graphic structure having a root, at least one joint, and an end effector, the method comprising:
- determining two or more characteristic configurations for the graphic structure, each having a different end effector distance between the root and the end effector; and
determining a transition function based on the characteristic configurations, for mapping goal distances between the root and the end effector to intermediate configurations.
8 Assignments
0 Petitions
Accused Products
Abstract
Manipulation of a graphic structure having a root, a joint and an end effector to a configuration positioning the structure'"'"'s end effector at a goal position is aided by determining characteristic configurations for the structure having different distances between the root and the end effector. The characteristic configurations form the basis of a transition function mapping goal distances between the root and goal positions to intermediate configurations, with the intermediate configurations having end effector distances (between the root and end effector) equal to the corresponding goal distances. The intermediate configuration may be reoriented to a final configuration positioning the end effector at the goal position.
14 Citations
22 Claims
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1. A computer-implemented method for aiding manipulation of a graphic structure having a root, at least one joint, and an end effector, the method comprising:
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determining two or more characteristic configurations for the graphic structure, each having a different end effector distance between the root and the end effector; and determining a transition function based on the characteristic configurations, for mapping goal distances between the root and the end effector to intermediate configurations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A computer-implemented method for aiding manipulation of a graphic structure having a root, at least one joint, and an end effector to a final configuration positioning the end effector at a goal position, the method comprising:
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mapping a goal distance between the root and the goal position to an intermediate configuration for the graphic structure using a predetermined transition function, wherein the intermediate configuration has an end effector distance between the root and the end effector equal to the goal distance; determining the final configuration for the graphic structure by reorienting the intermediate configuration such that the final configuration positions the end effector at the goal position.
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12. A memory device storing computer-readable instructions for aiding a computer to manipulate a graphic structure having a root, at least one joint, and an end effector, the instructions comprising:
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instructions for determining two characteristic configurations for the graphic structure, having two different end effector distances between the root and the end effector; and instructions for determining a transition function based on the characteristic configurations, for mapping goal distances between the root and the end effector to intermediate configurations for the graphic structure. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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20. A memory device storing computer-readable instructions for aiding a computer to manipulate a graphic structure having a root, at least one joint, and an end effector to a final configuration positioning the end effector at a goal position, the instructions comprising:
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instructions for determining an intermediate configuration of the graphic structure based on a predetermined transition function that maps goal distances between the root and the end effector to intermediate configurations of the graphic structure, the intermediate configuration having a distance between the root and the end effector substantially equal to the distance between the root and the goal position; and instructions for determining the final configuration for the graphic structure by reorienting the intermediate configuration to a final configuration positioning the end effector at the goal position.
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21. A computer-implemented method for aiding manipulation of a graphic structure having a root, a joint, and an end effector, the method comprising:
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determining a minimum characteristic configuration having an end effector distance that is a minimum possible distance between the root and the end effector; determining a maximum characteristic configuration having an end effector distance that is a maximum possible distance between the root and the end effector; determining a transition function based on the minimum and maximum characteristic configurations, the function mapping goal distances between the root and the end effector to configurations of joints of the graphic structure; determining different joint configurations of the graphic structure by inputting different goal distances between the root and the end effector to the transition function. - View Dependent Claims (22)
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Specification