PATENT CLAIM ANALYSIS

Application Number: 15877505
Application Type: Utility
Filing Date: 2018-01
Publication Date: 2018-07
Patent Classification: ["318", "568130"]

Abstract:
A robot system including a force-controlled pushing device which causes, when a robot is guided and moved, an object provided at a tip end of the robot to be brought into appropriate contact with another object. The robot system includes the robot, the force-controlled pushing device, a robot operation input measuring part, a robot movement command calculating part, a pushing direction setting part, a target pushing force setting part, a force measuring part, and a force-controlled pushing device movement command calculating part. The pushing direction setting part sets a pushing direction of the force-controlled pushing device, based on at least one of: the position/orientation of the first object; a force-controlled pushing device movement command for moving the first object; the position/orientation of the movement mechanism part of the force-controlled pushing device; the position/orientation of the robot; and a robot movement command for moving the robot.

Claim (Index 7):
The robot system according to  claim 1 , wherein\n the force-controlled pushing device's pushing direction setting part: calculates, under a first condition in which, based on a force measured by the force-controlled pushing device's force measuring part, a force in a direction other than the pushing direction exceeds a threshold value, or a force in the pushing direction is less than a predetermined threshold value, a direction making a predetermined angle with the moving direction of the robot on the basis of a plurality of positions of the robot, or the moving direction of the robot on the basis of the robot movement command, and sets the calculated direction as the pushing direction of the force-controlled pushing device; and estimates, under a condition other than the first condition, a shape of the portion of the workpiece, with which the tool is brought into contact, based on the plurality of positions of the first object, and sets, as the pushing direction of the force-controlled pushing device, a direction making a predetermined angle with the shape of the workpiece.

Metadata:
- Claim Count in Document: 5.0
- Percentile: 86.0
- Lexical Diversity: 2.81034
- Patent Class: 318.0
- Transitional Phrase Type: none
- Component Type: 0
- Foreign Priority: True
- Related Applications: ['15203848', '14314506', '14255065', '14684930', '14684806']

Analysis Scores:
- 35 USC 101 Eligibility (BERT): 0.654966869093063
- 35 USC 102 Novelty (BERT): 0.488201170331072
- Combined Prediction Score: 0.6382902992168639
- Mean Citation Score: 209.930706
- Max Citation Score: 233.29198
- Similarity Product: 197.52010440125704

Labels:
- Claim Label 101: 1
- Claim Label 102: 1
- Claim Label 103: 1
- Claim Label 112: 1
- Combined Label: 1
- Label 101 Adjusted: 1

Dataset: test