Robot Arm Inverse Kinematics Using Elastic Distortion Simulation
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Solution Overview
Problem
Existing methods for solving inverse kinematics in robotics and computer animation, such as analytical and numerical techniques, often result in non-smooth or computationally intensive solutions, especially when dealing with complex kinematic chains and obstacles.
Innovation Solution
A new numerical method simulates a robot arm with elastic links and joints, measures distortions caused by moving the end to a target position, and iteratively reconfigures the links and joints to reduce these distortions until a smooth and natural solution is found, using optimization techniques or elastic force simulations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If analytical inverse kinematics solutions are used, then computation speed is improved, but movement smoothness deteriorates
Solution Approach 1:
The patent applies dynamics by treating the robot arm links as elastic elements that can dynamically deform and relax. The iterative relaxation process allows the system to transition from a rigid analytical solution to a dynamic simulation that produces smooth movements while maintaining computational efficiency through localized updates.
Solution Approach 2:
The patent changes the parameter representation from fixed joint angles (analytical) to elastic deformation parameters that can continuously adjust. By representing the robot arm state through elastic energy minimization rather than discrete joint configurations, the system achieves both speed and smoothness.
2Stability of the object's composition
If numerical methods are used to find approximate solutions, then movement naturalness is improved, but computational intensity increases
Solution Approach 1:
The patent segments the computational problem by treating each link as an independent elastic element with local degrees of freedom. This segmentation allows the system to compute only local deformations rather than solving the full global inverse kinematics problem, dramatically reducing computational intensity while maintaining natural movement.
Solution Approach 2:
The patent substitutes the traditional numerical optimization approach with a physics-based elastic energy minimization model. By replacing complex numerical methods with simpler elastic force calculations and relaxation steps, the system achieves natural movements with reduced computational intensity.
3Measurement precision
If the entire robot arm is reconfigured in each iteration, then solution accuracy is improved, but computation speed deteriorates
Solution Approach 1:
The patent segments the robot arm into individual elastic links and computes deformations locally for each link rather than reconfiguring the entire arm. This segmentation enables parallel computation and reduces the computational burden per iteration while maintaining overall solution accuracy through cumulative effect.
Solution Approach 2:
The patent applies partial action by updating only the necessary local configurations in each iteration rather than fully reconfiguring the entire robot arm. The elastic energy gradient naturally propagates changes through the chain, achieving accurate solutions with partial updates that are computationally efficient.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This method provides fast and natural inverse kinematics solutions by focusing on small sets of adjacent links and joints, reducing computational intensity and achieving smooth movements, while also handling obstacles and external conditions.
Implementation Method 1
The method simulates a robot arm that has elastic links and joints, moves the end of the robot arm to a target position, calculates distortions caused by that movement, and iteratively reconfigures the links and joints to reduce distortions
Data Source
AI summary
The present disclosure generally relates to the field of robotics and computer animation, more particularly, method and apparatus to solve the inverse kinematics problem to control a kinematic chain such as a robot arm or an animation character's skeleton to reach a target position. The new method simulates a kinematic chain whose links and joints are elastic and can be distorted. The method distorts the kinematic chain to move its end to the target position, calculates distortions, and iteratively adjusts link and joint configurations of the kinematic chain to reduce distortions while keeping its end at the target position until a solution with near zero distortions is found. The resulting link and joint configurations of the simulated kinematic chain then can be used for the actual kinematic chain to reach the same target position.