{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-8489238","patent":{"patent_number":"US-8489238","title":"Robot control apparatus","assignee":null,"inventors":[],"filing_date":"2012-11-15T00:00:00.000Z","publication_date":"2013-07-16T00:00:00.000Z","cpc_codes":["B25J","B25J","G05B"],"num_claims":4,"abstract":"A robot control apparatus according to an embodiment includes: a joint angle difference calculator calculating a joint angle difference; a torque command value calculator calculating a torque command value for a joint, based on the joint angle difference; an external torque calculator calculating an external torque that is a difference between the estimated drive torque and the torque command value, and determining an external force receiving joint shaft on which an external force from the external torque acts; a compliance model storage unit storing a compliance model at the external force receiving joint shaft; a compliance correction amount calculator calculating a compliance correction amount for a task coordinate system position at the external force receiving joint shaft in accordance with the external force; and a joint angle difference correction amount calculator calculating a joint angle difference correction amount from the compliance correction amount and the partial Jacobian matrix."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Robot control apparatus","description":"A robot control apparatus according to an embodiment includes: a joint angle difference calculator calculating a joint angle difference; a torque command value calculator calculating a torque command ","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-8489238","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-8489238","citation_suggestion":"Patentable. \"Robot control apparatus\" (US-8489238). https://patentable.app/patents/US-8489238","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-8489238","json":"https://patentable.app/api/llm-context/US-8489238","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-05-31T01:55:02.859Z"}