{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9849592","patent":{"patent_number":"US-9849592","title":"Robot apparatus, robot control method, program, and recording medium","assignee":null,"inventors":[],"filing_date":"2015-09-14T00:00:00.000Z","publication_date":"2017-12-26T00:00:00.000Z","cpc_codes":["B25J","B25J","G05B","G05B","G05B"],"num_claims":4,"abstract":"A force detector provided between a robot arm and a robot hand detects forces Fx, Fy, and Fz. A robot controller performs a filtering process for the forces Fx and Fy by a first low-pass filter of a cutoff frequency Fc1, moves the robot hand so that the forces Fx and Fy become smaller, corrects a trajectory of the robot arm, performs a filtering process for the force Fz by a second low-pass filter of a cutoff frequency Fc2 having a frequency higher than the cutoff frequency Fc1, performs a threshold value determination for the force Fz, and stops the movement of the robot hand when the force Fz exceeds a threshold value during a fitting operation."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Robot apparatus, robot control method, program, and recording medium","description":"A force detector provided between a robot arm and a robot hand detects forces Fx, Fy, and Fz. A robot controller performs a filtering process for the forces Fx and Fy by a first low-pass filter of a c","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9849592","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-9849592","citation_suggestion":"Patentable. \"Robot apparatus, robot control method, program, and recording medium\" (US-9849592). https://patentable.app/patents/US-9849592","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9849592","json":"https://patentable.app/api/llm-context/US-9849592","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T11:15:34.800Z"}