{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9592605","patent":{"patent_number":"US-9592605","title":"Robot control method, robot control apparatus, robot control program, and storage medium","assignee":null,"inventors":[],"filing_date":"2014-11-21T00:00:00.000Z","publication_date":"2017-03-14T00:00:00.000Z","cpc_codes":["B25J","G05B","G05B"],"num_claims":5,"abstract":"An evaluation value Ek on a trajectory error ek between an actual trajectory yk and a target trajectory x is calculated. In a case where the calculated evaluation value Ek is better than a best evaluation value Ebest, the best evaluation value Ebest is updated by the evaluation value Ek and is stored. A commanded trajectory uk in this situation is employed as a best commanded trajectory ubest and stored. In a case where the calculated evaluation value Ek is worse than the best evaluation value Ebest, a compensator that calculates a correction of the trajectory Δuk+1 is changed to another compensator and the correction of the trajectory Δuk+1 is calculated. A commanded trajectory in the next-time operation uk+1 is calculated from the correction of the trajectory Δuk+1 and the best commanded trajectory ubest."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Robot control method, robot control apparatus, robot control program, and storage medium","description":"An evaluation value Ek on a trajectory error ek between an actual trajectory yk and a target trajectory x is calculated. In a case where the calculated evaluation value Ek is better than a best evalua","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9592605","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-9592605","citation_suggestion":"Patentable. \"Robot control method, robot control apparatus, robot control program, and storage medium\" (US-9592605). https://patentable.app/patents/US-9592605","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9592605","json":"https://patentable.app/api/llm-context/US-9592605","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T05:20:09.812Z"}