{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9616573","patent":{"patent_number":"US-9616573","title":"Robot control apparatus, robot control method, program, recording medium and robot system","assignee":null,"inventors":[],"filing_date":"2013-05-23T00:00:00.000Z","publication_date":"2017-04-11T00:00:00.000Z","cpc_codes":["B25J","G05B","G05B"],"num_claims":14,"abstract":"An end effector can be removed to a target position and calibration loads can be reduced, even if there is an error in a kinematic operation in a robot main body and/or cameras. A positional deviation integral torque obtained by integrating a value corresponding to a positional deviation is applied to joints while being superimposed with torques based on angular deviations. If movements of the joints stop or are about to stop before the end effector reaches a target position due to an error in a kinematic operation, the positional deviation integral torque increases with time, to move said joints and move the end effector to the target position. Thus, the end effector can be reliably moved to the target position by the positional deviation integral torque, and calibration loads can be reduced."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Robot control apparatus, robot control method, program, recording medium and robot system","description":"An end effector can be removed to a target position and calibration loads can be reduced, even if there is an error in a kinematic operation in a robot main body and/or cameras. A positional deviation","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9616573","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-9616573","citation_suggestion":"Patentable. \"Robot control apparatus, robot control method, program, recording medium and robot system\" (US-9616573). https://patentable.app/patents/US-9616573","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9616573","json":"https://patentable.app/api/llm-context/US-9616573","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T13:36:49.420Z"}