{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9844415","patent":{"patent_number":"US-9844415","title":"Systems and methods for facilitating access to edges of cartesian-coordinate space using the null space","assignee":null,"inventors":[],"filing_date":"2016-06-27T00:00:00.000Z","publication_date":"2017-12-19T00:00:00.000Z","cpc_codes":["A61B","A61B","B25J","B25J","B25J","B25J","A61B","G05B","G05B"],"num_claims":20,"abstract":"Devices, systems, and methods for providing increased range of movement of the end effector of a manipulator arm having a plurality of joints with redundant degrees of freedom. Methods include defining a position-based constraint within a joint space defined by the at least one joint, determining a movement of the joints along the constraint within a null-space and driving the joints according to a calculated movement to effect the commanded movement while providing an increased end effector range of movement, particularly as one or more joints approach a respective joint limit within the joint space."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Systems and methods for facilitating access to edges of cartesian-coordinate space using the null space","description":"Devices, systems, and methods for providing increased range of movement of the end effector of a manipulator arm having a plurality of joints with redundant degrees of freedom. Methods include definin","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9844415","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-9844415","citation_suggestion":"Patentable. \"Systems and methods for facilitating access to edges of cartesian-coordinate space using the null space\" (US-9844415). https://patentable.app/patents/US-9844415","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9844415","json":"https://patentable.app/api/llm-context/US-9844415","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T05:49:44.724Z"}