{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9815202","patent":{"patent_number":"US-9815202","title":"Control method for robot apparatus, computer readable recording medium, and robot apparatus","assignee":null,"inventors":[],"filing_date":"2015-07-07T00:00:00.000Z","publication_date":"2017-11-14T00:00:00.000Z","cpc_codes":["B25J","B25J","B25J","B25J","G05B","G05B","G05B","G05B","G05B","G05B","G05B"],"num_claims":19,"abstract":"Semi-closed control or fully closed control is selected as a control system for a joint using a motor configured to drive a joint of a robot arm via a reduction gear, an input-side encoder, and an output-side encoder, the semi-closed control being control in which an output of the input-side encoder is used, the fully closed control being control in which an output of the output-side encoder is used. A test run is performed plural times in which the robot arm is caused to perform a specific operation while semi-closed control is being performed on the joint, and semi-closed control or fully closed control is selected using outputs of the output-side encoder obtained in the test runs or in accordance with the content of a task that the robot arm is to be caused to perform."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Control method for robot apparatus, computer readable recording medium, and robot apparatus","description":"Semi-closed control or fully closed control is selected as a control system for a joint using a motor configured to drive a joint of a robot arm via a reduction gear, an input-side encoder, and an out","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9815202","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-9815202","citation_suggestion":"Patentable. \"Control method for robot apparatus, computer readable recording medium, and robot apparatus\" (US-9815202). https://patentable.app/patents/US-9815202","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9815202","json":"https://patentable.app/api/llm-context/US-9815202","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T10:34:16.893Z"}