PATENT CLAIM ANALYSIS

Application Number: 15961283
Application Type: Utility
Filing Date: 2018-04
Publication Date: 2018-08
Patent Classification: ["318", "400150"]

Abstract:
A control apparatus of the motor according to one aspect includes: a first feedforward calculator configured to calculate a first motor output torque value so that a torque value indicated by a torque command signal can be generated in a joint part of a robot based on a model of a motor, a decelerator, or a link and the number of rotations of the motor, a second feedforward calculator configured to calculate a second motor output torque value based on the torque value indicated by the torque command signal without depending on the number of rotations of the motor; and a comparator configured to add the first motor output torque value, the second motor output torque value, and a third motor output torque value calculated based on the torque value detected by a sensor and the torque value indicated by the torque command signal.

Claim (Index 1):
A control apparatus of a motor that is applied to a robot comprising a joint part and a link, the joint part comprising a motor, a decelerator, and a sensor, the link being driven by the motor via the decelerator and receiving a reaction force from an environment, the control apparatus of the motor controlling the motor by a combination of a feedback control and a feedforward control, the control apparatus of the motor comprising:\n a first feedforward calculator configured to calculate a number of rotations of the motor to be instructed for generating a torque indicated by a torque command signal in the joint part based on at least a model of the motor, the decelerator or the link and the torque command signal of the motor, and calculate a first motor output torque value so that the number of rotations of the motor to be instructed is achieved; a second feedforward calculator configured to calculate a second motor output torque value based on the torque value indicated by the torque command signal without depending on the number of rotations of the motor to be instructed; and a comparator configured to add the first motor output torque value, the second motor output torque value, and a third motor output torque value calculated based on the torque value detected by the sensor and the torque value indicated by the torque command signal.

Metadata:
- Claim Count in Document: 1.0
- Percentile: 91.0
- Lexical Diversity: 2.76364
- Patent Class: 318.0
- Transitional Phrase Type: open
- Component Type: 1
- Foreign Priority: True
- Related Applications: ['15223605', '10546712', '14403320', '14403311', '15342213']

Analysis Scores:
- 35 USC 101 Eligibility (BERT): 0.6532126596159532
- 35 USC 102 Novelty (BERT): 0.4745410445234455
- Combined Prediction Score: 0.6353454981067025
- Mean Citation Score: 178.503172
- Max Citation Score: 251.21942
- Similarity Product: 244.4789589668

Labels:
- Claim Label 101: 1
- Claim Label 102: 1
- Claim Label 103: 0
- Claim Label 112: 0
- Combined Label: 1
- Label 101 Adjusted: 1

Dataset: test