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 22):
A non-transitory recording unit storing instructions that, when executed by a processor, cause the processor to perform operations for moving a manipulator arm, the manipulator arm including a movable distal portion, a proximal portion coupled to a base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states of the plurality of joints for a given state of the distal portion, the operations comprising:\n calculating a first movement of the plurality of joints in accordance with a first objective of a plurality of objectives, the plurality of objectives being for motions corresponding to the distal portion not being in motion, wherein the first movement corresponds to the distal portion not being in motion, and wherein the first objective is associated with a first attribute; calculating a second movement of the plurality of joints in accordance with a second objective of the plurality of objectives, wherein the second movement corresponds to the distal portion not being in motion, and wherein the second objective is associated with a second attribute; determining a combined movement of the plurality of joints by combining the first and second movements using the first and second attributes while limiting at least one movement in relation to a master velocity, wherein the master velocity is associated with a commanded movement to move the distal portion, and wherein the at least one movement selected from the group consisting of: the first movement, the second movement, and the combined movement; and driving the plurality of joints to effect the combined movement of the plurality of joints.

Metadata:
- Claim Count in Document: 65.0
- Percentile: 91.0
- Lexical Diversity: 1.94937
- Patent Class: 318.0
- Transitional Phrase Type: open
- Component Type: 1
- Foreign Priority: False
- Related Applications: ['15359413', '14218832', '13967606', '15512495', '14218842']

Analysis Scores:
- 35 USC 101 Eligibility (BERT): 0.7391790949246678
- 35 USC 102 Novelty (BERT): 0.6282213888184175
- Combined Prediction Score: 0.7280833243140428
- Mean Citation Score: 532.5180419999998
- Max Citation Score: 605.3177
- Similarity Product: 534.3725069781781

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