{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9764462","patent":{"patent_number":"US-9764462","title":"Robot apparatus and robot controlling method","assignee":null,"inventors":[],"filing_date":"2014-07-18T00:00:00.000Z","publication_date":"2017-09-19T00:00:00.000Z","cpc_codes":["B25J","B25J","G05B","G05B","G05B"],"num_claims":14,"abstract":"A robot apparatus 1 includes: a multi-articulated robot 2; and a controller 3 that drive-controls the multi-articulated robot 2 based on an input motion command. The controller 3 includes: a joint angle computing unit 32 that computes each joint angle command for driving the multi-articulated robot 2 based on the motion command; a servo controlling apparatus 30 that moves the multi-articulated robot 2 by rotationally driving each rotational joint based on the joint angle command computed by the joint angle computing unit 32; a singular point calculating unit 51 that calculates a distance between the multi-articulated robot 2 and a singular point of the multi-articulated robot 2; and a maximum joint angle deviation adjusting unit 52 that limits a maximum rotation speed of a rotational joint specified in advance based on a singular point type, if the singular point distance becomes smaller than a predetermined value."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Robot apparatus and robot controlling method","description":"A robot apparatus 1 includes: a multi-articulated robot 2; and a controller 3 that drive-controls the multi-articulated robot 2 based on an input motion command. The controller 3 includes: a joint ang","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9764462","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-9764462","citation_suggestion":"Patentable. \"Robot apparatus and robot controlling method\" (US-9764462). https://patentable.app/patents/US-9764462","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9764462","json":"https://patentable.app/api/llm-context/US-9764462","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T17:23:53.885Z"}