{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9597798","patent":{"patent_number":"US-9597798","title":"Control method of robot apparatus and robot apparatus","assignee":null,"inventors":[],"filing_date":"2015-05-28T00:00:00.000Z","publication_date":"2017-03-21T00:00:00.000Z","cpc_codes":["B25J","G05B"],"num_claims":6,"abstract":"A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value calculation step of using the target stiffness, the target trajectory, angular velocity of the target trajectory, and angular acceleration of the target trajectory to calculate a torque command value; a determination step of determining whether each of the driving force command values is a value 0 or greater; a change step of performing at least one of a change of increasing the target stiffness and a change of reducing the angular acceleration; and a driving force command value calculation step of using the target stiffness and the torque command value to calculate each of the driving force command values."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Control method of robot apparatus and robot apparatus","description":"A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the ac","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9597798","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-9597798","citation_suggestion":"Patentable. \"Control method of robot apparatus and robot apparatus\" (US-9597798). https://patentable.app/patents/US-9597798","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9597798","json":"https://patentable.app/api/llm-context/US-9597798","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T13:47:06.303Z"}