US5043929A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Closed-form kinematics
Assignee: Schlumberger Technologies Inc
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Filing: 1989-06-13
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Granted: 1991-08-27
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Expires: 2009-06-13
Abstract
Abstract A method and apparatus for performing kinematic analysis of linkages is disclosed. Generalized mechanisms are selected from a catalog of mechanisms. From an initial selection of mechanisms, the one most closely matching a desired behavior is chosen and an optimization procedure is conducted. The method may be preceded by a qualitative kinematic analysis or the qualitative analysis may be used in lieu of a catalog selection. An improved optimization technique is disclosed, along with a closed form kinematic analysis method.
Inventors
- 👤 Glenn A. Kramer
- 👤 Harry G. Barrow
- 👤 Philip E. Agre
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 13:10
CPC Classifications
G; G06; G06F; G06F30/00; G06F30/10; G06F30/17
Claims Analysis
Total Claims: 69
Claim 1
Independent Claim
126 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information, said topological and geometric information further comprising a plurality of kinematic constraints; b) using said stored information to generate an assembly procedure for at least partially assembly a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, said computer representations simulating position and orientation of parts of said linkage during motion of said linkage.
Claim 2
Dependent Claim
126 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information, said topological and geometric information further comprising a plurality of kinematic constraints; b) using said stored information to generate an assembly procedure for at least partially assembly a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, said computer representations simulating position and orientation of parts of said linkage during motion of said linkage.
Claim 3
Dependent Claim
14 words
The method as recited in claim 1, wherein the method uses single precision arithmetic.
Claim 4
Dependent Claim
116 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said topological stored information further comprises joint type, link length, link shape, and location of joints on links.
Claim 5
Dependent Claim
116 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said topological stored information further comprises joint type, link length, link shape, and location of joints on links.
Claim 6
Dependent Claim
108 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said geometric information further comprises a series of generalized rules.
Claim 7
Dependent Claim
108 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said geometric information further comprises a series of generalized rules.
Claim 8
Dependent Claim
63 words
The method as recited in claim 4, wherein said generalized rules are selected from the group rules for inferring marker constraints, rules for constructing displaced marker constraints, rules for intersecting and reducing constrained markers, rules for propagating constraints across joints, rules for inferring that a link is known, rules for moving links to satisfy new constraints while preserving existing constraints, and combinations thereof.
Claim 9
Dependent Claim
119 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembly a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input; and e) supplying a binary configuration parameter, said binary configuration parameter resolving an ambiguity in assembly of at least one pair of links.
Claim 10
Dependent Claim
119 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembly a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input; and e) supplying a binary configuration parameter, said binary configuration parameter resolving an ambiguity in assembly of at least one pair of links.
Claim 11
Dependent Claim
114 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input; and e) supplying a vector of binary configuration parameters, said vector resolving ambiguities in assembly of the linkage.
Claim 12
Dependent Claim
114 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input; and e) supplying a vector of binary configuration parameters, said vector resolving ambiguities in assembly of the linkage.
Claim 13
Dependent Claim
126 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein the step of iteratively using said assembly procedure is used to evaluate an error function, said error function representing a departure from a desired behavior of the linkage.
Claim 14
Dependent Claim
126 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein the step of iteratively using said assembly procedure is used to evaluate an error function, said error function representing a departure from a desired behavior of the linkage.
Claim 15
Dependent Claim
108 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein the error function is used to substantially optimize said linkage.
Claim 16
Dependent Claim
108 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein the error function is used to substantially optimize said linkage.
Claim 17
Dependent Claim
107 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said digital computer is programmed in a LISP language.
Claim 18
Dependent Claim
107 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said digital computer is programmed in a LISP language.
Claim 19
Dependent Claim
127 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said stored information is in the form of a database, said database comprising a set of propositions said propositions defining at least markers associated with links of said linkage.
Claim 20
Dependent Claim
127 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said stored information is in the form of a database, said database comprising a set of propositions said propositions defining at least markers associated with links of said linkage.
Claim 21
Dependent Claim
16 words
The method as recited in claim 11, wherein said propositions are generated by said generalized rules.
Claim 22
Dependent Claim
38 words
The method as recited in claim 11, wherein said propositions comprise open and closed predicates, said closed predicates remaining constant during said step of generating, said open predicates encoding items of partial knowledge that is being incrementally inferred.
Claim 23
Dependent Claim
114 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input; e) storing location constraints of at least two markers; and f) intersecting said constraints in said assembly procedure.
Claim 24
Dependent Claim
114 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input; e) storing location constraints of at least two markers; and f) intersecting said constraints in said assembly procedure.
Claim 25
Dependent Claim
46 words
The method as recited in claim 14, wherein the step of intersecting is a step of intersecting a member of the group circles, spheres, planes, cylinders, ellipses, helixes, cycloids, and lines with a member of the group circles, spheres, planes, cylinders, ellipses, helixes, cycloids, and lines.
Claim 26
Dependent Claim
183 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteriatively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein a link is assumed to be known when the position of three markers on a link are known; when the position, alignment, and orientation of one marker on a link are known; when the position of one marker is known and the position and alignment of another marker is known; when the position and alignment of one marker are known and the alignment of a second marker is known; or where the position of two non-alignable markers are known and there is no third marker.
Claim 27
Dependent Claim
183 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteriatively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein a link is assumed to be known when the position of three markers on a link are known; when the position, alignment, and orientation of one marker on a link are known; when the position of one marker is known and the position and alignment of another marker is known; when the position and alignment of one marker are known and the alignment of a second marker is known; or where the position of two non-alignable markers are known and there is no third marker.
Claim 28
Dependent Claim
112 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein a pattern matcher determines if a generalized rule matches an entry in a database.
Claim 29
Dependent Claim
112 words
In a digital computer, a method of performing a kinematic analysis of a linkage comprising the steps of: a) storing linkage information for members of a linkage said information comprising topological and geometric information; b) using said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively using said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein a pattern matcher determines if a generalized rule matches an entry in a database.
Claim 30
Dependent Claim
23 words
The method as recited in claim 11, wherein said propositions may only be asserted into a database during generation of said assembly procedure.
Claim 31
Dependent Claim
55 words
The method as recited in claim 11, wherein a pattern matcher determines if a generalized rule matches an entry in a database during generation of said assembly procedure, said database comprising a set of propositions, said propositions defining at least markers associated with links of said linkage, said pattern matcher matching propositions which share predicates.
Claim 32
Dependent Claim
28 words
The method as recited in claim 19, wherein said generalized rules are preferentially applied when a predicate on which they depend has been previously asserted into said database.
Claim 33
Dependent Claim
126 words
Apparatus for simulating kinematic behavior of a linkage comprising: a) a digital computer programmed to: i) store linkage information for members of a linkage, said information comprising topological and geometric information, said topological and geometric information further comprising a plurality of kinematic constraints; ii) process said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage; iii) store said assembly procedure; and iv) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, said computer representations simulating position and orientation of parts of said linkage during motion of said linkage; and b) means for displaying said linkage using at least one of said computer representations.
Claim 34
Dependent Claim
126 words
Apparatus for simulating kinematic behavior of a linkage comprising: a) a digital computer programmed to: i) store linkage information for members of a linkage, said information comprising topological and geometric information, said topological and geometric information further comprising a plurality of kinematic constraints; ii) process said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage; iii) store said assembly procedure; and iv) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, said computer representations simulating position and orientation of parts of said linkage during motion of said linkage; and b) means for displaying said linkage using at least one of said computer representations.
Claim 35
Dependent Claim
16 words
Apparatus as recited in claim 21, wherein said digital computer operates in a single precision mode.
Claim 36
Dependent Claim
119 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information, said topological and geometric information further comprising a plurality of kinematic constraints; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, said computer representations simulating position and orientation of parts of said linkage during motion of said linkage.
Claim 37
Dependent Claim
119 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information, said topological and geometric information further comprising a plurality of kinematic constraints; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, said computer representations simulating position and orientation of parts of said linkage during motion of said linkage.
Claim 38
Dependent Claim
14 words
The computer as recited in claim 23, wherein the computer uses single precision arithmetic.
Claim 39
Dependent Claim
109 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said topological stored information further comprises joint type, link length, link shape, and location of joints on links.
Claim 40
Dependent Claim
109 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said topological stored information further comprises joint type, link length, link shape, and location of joints on links.
Claim 41
Dependent Claim
101 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said geometric information further comprises a series of generalized rules.
Claim 42
Dependent Claim
101 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said geometric information further comprises a series of generalized rules.
Claim 43
Dependent Claim
146 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said generalized rules are selected from the group rules for inferring marker constraints, rules for constructing displaced marker constraints, rules for intersecting and reducing constrained markers, rules for propagating constraints across joints, rules for inferring that a link is known, rules for moving links to satisfy new constraints while preserving existing constraints, and combinations thereof.
Claim 44
Dependent Claim
146 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said generalized rules are selected from the group rules for inferring marker constraints, rules for constructing displaced marker constraints, rules for intersecting and reducing constrained markers, rules for propagating constraints across joints, rules for inferring that a link is known, rules for moving links to satisfy new constraints while preserving existing constraints, and combinations thereof.
Claim 45
Dependent Claim
117 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said computer is further programmed to input binary configuration parameter, said binary configuration parameter resolving an ambiguity in assembly of at least one pair of links.
Claim 46
Dependent Claim
117 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said computer is further programmed to input binary configuration parameter, said binary configuration parameter resolving an ambiguity in assembly of at least one pair of links.
Claim 47
Dependent Claim
113 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said computer is further programmed to supply a vector of binary configuration parameters, said vector resolving ambiguities in assembly of the linkage.
Claim 48
Dependent Claim
113 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said computer is further programmed to supply a vector of binary configuration parameters, said vector resolving ambiguities in assembly of the linkage.
Claim 49
Dependent Claim
120 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said computer is further programmed to iteratively use said assembly procedure to evaluate an error function, said error function representing a departure from a desired behavior of the linkage.
Claim 50
Dependent Claim
120 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said computer is further programmed to iteratively use said assembly procedure to evaluate an error function, said error function representing a departure from a desired behavior of the linkage.
Claim 51
Dependent Claim
18 words
The computer as recited in claim 30 wherein the error function is used to substantially optimize said linkage.
Claim 52
Dependent Claim
99 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said computer is programmed in a LISP language.
Claim 53
Dependent Claim
99 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said computer is programmed in a LISP language.
Claim 54
Dependent Claim
120 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said stored information is in the form of a database, said database comprising a set of propositions said propositions defining at least markers associated with links of said linkage.
Claim 55
Dependent Claim
120 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said stored information is in the form of a database, said database comprising a set of propositions said propositions defining at least markers associated with links of said linkage.
Claim 56
Dependent Claim
99 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said propositions are generated by said generalized rules.
Claim 57
Dependent Claim
99 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said propositions are generated by said generalized rules.
Claim 58
Dependent Claim
121 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said propositions comprise open and closed predicates, said closed predicates remaining constant during said step of generating, said open predicates encoding items of partial knowledge that is being incrementally inferred.
Claim 59
Dependent Claim
121 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said propositions comprise open and closed predicates, said closed predicates remaining constant during said step of generating, said open predicates encoding items of partial knowledge that is being incrementally inferred.
Claim 60
Dependent Claim
115 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said computer is further programmed to: i) store location constraints of at least two markers; and (ii) intersect said constraints in said assembly procedure.
Claim 61
Dependent Claim
115 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, wherein said computer is further programmed to: i) store location constraints of at least two markers; and (ii) intersect said constraints in said assembly procedure.
Claim 62
Dependent Claim
107 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, further comprising a pattern matcher to determine if a generalized rule matches an entry in a database.
Claim 63
Dependent Claim
107 words
A digital computer for kinematic analysis of a linkage programmed to: a) store linkage information for members of a linkage said information comprising topological and geometric information; b) use said stored information to generate an assembly procedure for at least partially assembling a computer representation of said linkage, said assembly procedure comprising a plurality of assembly rules for said linkage; c) storing said assembly procedure; and d) iteratively use said assembly procedure to at least partially assemble computer representations of said linkage in response to at least one driving input, further comprising a pattern matcher to determine if a generalized rule matches an entry in a database.
Claim 64
Dependent Claim
90 words
The computer as recited in claim 23 wherein said assembly procedure terminates when the position of three markers on a link are known; when the position, alignment, and orientation of one marker on a link are known; when the position of one marker is known and the position and alignment of another marker is known; when the position and alignment of one marker are known and the alignment of a second marker is known; or where the position of two non-alignable markers are known and there is no third marker.
Claim 65
Dependent Claim
24 words
The computer as recited in claim 23, further comprising a pattern matcher to determine if a generalized rule matches an entry in a database.
Claim 66
Dependent Claim
23 words
The computer as recited in claim 33, wherein said propositions may only be asserted into a database during generation of said assembly procedure.
Claim 67
Dependent Claim
55 words
The computer as recited in claim 33, wherein a pattern matcher determines if a generalized rule matches an entry in a database during generation of said assembly procedure, said database comprising a set of propositions, said propositions defining at least markers associated with links of said linkage, said pattern matcher matching propositions which share predicates.
Claim 68
Dependent Claim
28 words
The computer as recited in claim 41, wherein said generalized rules are preferentially applied when a predicate on which they depend has been previously asserted into said database.
Claim 69
Dependent Claim
25 words
The method as recited in claim 16, wherein the linkage compiler terminates when all of the links in said linkage are assumed to be known.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1994-08-26 | 1995-02-25 | 1995-08-27 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1998-08-26 | 1999-02-25 | 1999-08-27 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2002-08-26 | 2003-02-25 | 2003-08-27 | $7700.00 | Window Closed / Lapsed |