Another court case and another headline -- R. Kelly can officially bump and grind with whomever he chooses. He officially ended his 11 year marriage Thursday. According to a statement from their lawyers, the R&B star, who was acquitted of child pornography charges in June, and his wife Andrea Lee Kelly will have joint custody of their three children.While no other details were provided, the Kelly's were reportedly trying to patch things up after Andrea filed an emergency protective order against the "I'm A Flirt" singer in 2005 and after the original divorce filing took place in 2006.Kelly, 42, and Andrea, 35, have three children together.Kelly married Andrea, who had auditioned as a backup dancer for him two years prior, in 1996. She went on to choreograph sets for his tours and videos.