{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9676100","patent":{"patent_number":"US-9676100","title":"Control apparatus of robot, robot, and program thereof","assignee":null,"inventors":[],"filing_date":"2013-02-05T00:00:00.000Z","publication_date":"2017-06-13T00:00:00.000Z","cpc_codes":["B25J","G05B","G05B"],"num_claims":7,"abstract":"A trajectory along which a robot is driven by an actuator is calculated using a first constraint value. A target value of the robot and a second constraint value are used to calculate a target trajectory of the robot. A deflection correction amount of the robot is calculated. The target trajectory is corrected from the deflection correction amount to calculate a deflection correction trajectory. Performance of the actuator necessary to operate the robot based on the deflection correction trajectory is calculated. It is determined whether a first condition that the actuator performance is within a range of the first constraint value and a second condition that a difference between the first constraint value and the actuator performance is within a range of a predetermined value are satisfied. The deflection trajectory is output to the actuator if it is determined that the first condition and the second condition are satisfied."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Control apparatus of robot, robot, and program thereof","description":"A trajectory along which a robot is driven by an actuator is calculated using a first constraint value. A target value of the robot and a second constraint value are used to calculate a target traject","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9676100","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-9676100","citation_suggestion":"Patentable. \"Control apparatus of robot, robot, and program thereof\" (US-9676100). https://patentable.app/patents/US-9676100","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9676100","json":"https://patentable.app/api/llm-context/US-9676100","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T06:03:52.852Z"}