{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9662790","patent":{"patent_number":"US-9662790","title":"Robot controller and robot system for moving robot in response to force","assignee":null,"inventors":[],"filing_date":"2015-04-13T00:00:00.000Z","publication_date":"2017-05-30T00:00:00.000Z","cpc_codes":["B25J","B25J","G05B"],"num_claims":3,"abstract":"A robot controller and a robot system capable of stably changing the orientation of a front end of a robot by applying a force to the front end, and moving each axis to a desired position. The robot controller for moving the robot based on the force applied to the robot includes a control point specifying part which specifies a control point in relation to the robot, and an operation commanding part which outputs a command so that the robot performs rotational movement about the control point. The robot has a structure constituted by sequentially combining three or more axes including at least three rotation axes, and rotation centerlines of the three rotation axes intersect at an origin of a centerline-intersecting axis, the centerline-intersecting axis corresponding to one of the three rotation axes. The control point specifying part specifies the origin of the centerline-intersecting axis as the control point."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Robot controller and robot system for moving robot in response to force","description":"A robot controller and a robot system capable of stably changing the orientation of a front end of a robot by applying a force to the front end, and moving each axis to a desired position. The robot c","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9662790","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-9662790","citation_suggestion":"Patentable. \"Robot controller and robot system for moving robot in response to force\" (US-9662790). https://patentable.app/patents/US-9662790","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9662790","json":"https://patentable.app/api/llm-context/US-9662790","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T12:04:13.168Z"}