The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 19, 2017
Filed:
Jul. 18, 2014
Canon Kabushiki Kaisha, Tokyo, JP;
Mahito Negishi, Tachikawa, JP;
CANON KABUSHIKI KAISHA, Tokyo, JP;
Abstract
A robot apparatusincludes: a multi-articulated robot; and a controllerthat drive-controls the multi-articulated robotbased on an input motion command. The controllerincludes: a joint angle computing unitthat computes each joint angle command for driving the multi-articulated robotbased on the motion command; a servo controlling apparatusthat moves the multi-articulated robotby rotationally driving each rotational joint based on the joint angle command computed by the joint angle computing unit; a singular point calculating unitthat calculates a distance between the multi-articulated robotand a singular point of the multi-articulated robot; and a maximum joint angle deviation adjusting unitthat 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.
Data source: USPTO (United States Patent and Trademark Office) public patent records. Weekly synchronization. How IDiyas builds this profile