PATENT CLAIM ANALYSIS

Application Number: 15967545
Application Type: Utility
Filing Date: 2018-04
Publication Date: 2018-08
Patent Classification: ["318", "568210"]

Abstract:
Devices, systems, and methods for providing commanded movement of an end effector of a manipulator concurrent with a desired movement of one or more joints of the manipulator according to one or more consolidated null-space objectives. The null-space objectives may include a joint state combination, relative joint states, range of joint states, joint state profile, kinetic energy, clutching movements, collision avoidance movements, singularity avoidance movements, pose or pitch preference, desired manipulator configurations, commanded reconfiguration of the manipulator, and anisotropic emphasis of the joints. Methods include calculating multiple null-space movements according to different null-space objectives, determining an attribute for each and consolidating the null-space movements with a null-space manager using various approaches. The approaches may include applying weighting, scaling, saturation levels, priority, master velocity limiting, saturated limited integration and various combinations thereof.

Claim (Index 6):
The method of  claim 1 , wherein determining the combined movement comprises: limiting at least one of the first and second movements proportionally with the master velocity.

Metadata:
- Claim Count in Document: 65.0
- Percentile: 91.0
- Lexical Diversity: 1.94937
- Patent Class: 318.0
- Transitional Phrase Type: none
- Component Type: 0
- Foreign Priority: False
- Related Applications: ['15359413', '14218832', '13967606', '15512495', '14218842']

Analysis Scores:
- 35 USC 101 Eligibility (BERT): 0.766057239482854
- 35 USC 102 Novelty (BERT): 0.6144874588033772
- Combined Prediction Score: 0.7509002614149063
- Mean Citation Score: 532.5180419999998
- Max Citation Score: 605.3177
- Similarity Product: 477.9821723262786

Labels:
- Claim Label 101: 1
- Claim Label 102: 1
- Claim Label 103: 1
- Claim Label 112: 0
- Combined Label: 1
- Label 101 Adjusted: 1

Dataset: test