{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-11247341","patent":{"patent_number":"US-11247341","title":"Control apparatus, transport apparatus, computer readable storage medium, and control method","assignee":null,"inventors":[],"filing_date":"2020-05-24T00:00:00.000Z","publication_date":"2022-02-15T00:00:00.000Z","cpc_codes":["B25J","B25J","B25J","B25J","B25J","G06F","G06T","G06T","G06T","G06T","G06T","G06V","G06V","G05B","G05B","G06T"],"num_claims":15,"abstract":"A control apparatus includes a force sensation information acquiring unit for acquiring force sensation information representing a magnitude of at least one of a force and a torque at a distal end of a manipulator while a target item is being transported; a mass information acquiring unit for acquiring mass information representing a mass of the item; a plan information acquiring unit for acquiring plan information representing content of a plan of a trajectory; a force sensation estimating unit for estimating a magnitude of at least one of a force and a torque to be detected at the distal end of the manipulator; and a first detecting unit for detecting an abnormality, based on the magnitude of at least one of the force and the torque represented by the force sensation information and the magnitude of at least one of the force and the torque estimated by the estimating unit."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Control apparatus, transport apparatus, computer readable storage medium, and control method","description":"A control apparatus includes a force sensation information acquiring unit for acquiring force sensation information representing a magnitude of at least one of a force and a torque at a distal end of ","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-11247341","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-11247341","citation_suggestion":"Patentable. \"Control apparatus, transport apparatus, computer readable storage medium, and control method\" (US-11247341). https://patentable.app/patents/US-11247341","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-11247341","json":"https://patentable.app/api/llm-context/US-11247341","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-05-30T20:00:29.742Z"}