{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9737991","patent":{"patent_number":"US-9737991","title":"Robot control device controlling robot based on external force applied to robot and robot system","assignee":null,"inventors":[],"filing_date":"2016-01-19T00:00:00.000Z","publication_date":"2017-08-22T00:00:00.000Z","cpc_codes":["B25J","B25J","B25J","B25J","G05B","G05B","G05B","G05B"],"num_claims":9,"abstract":"A robot control device includes a contact judging part which judges if the robot has contacted an object based on external force which is detected by the sensor, a stop command part which makes the robot stop when it is judged that the robot has contacted the object, a continuous contact judging part which judges if the robot continues to contact the object after making the robot stop, and a retraction command part which makes the robot retract in a direction away from the object when it is judged that the robot continues to contact the object."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Robot control device controlling robot based on external force applied to robot and robot system","description":"A robot control device includes a contact judging part which judges if the robot has contacted an object based on external force which is detected by the sensor, a stop command part which makes the ro","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9737991","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-9737991","citation_suggestion":"Patentable. \"Robot control device controlling robot based on external force applied to robot and robot system\" (US-9737991). https://patentable.app/patents/US-9737991","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9737991","json":"https://patentable.app/api/llm-context/US-9737991","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T11:41:25.690Z"}