B25J 9/1628
Characterised by the control loop
Official title: {characterised by the control loop}
B25J9/1628 (Characterised by the control loop) appears on 4,299 US grants and 5,906 published applications in this corpus.
Search patents in B25J- Granted patents
- 4,299
- Published applications
- 5,906
- Assignees
- 1,309
- Inventors
- 9,314
- Latest grant
- 6 Oct 2026
Filings by year
| Year | Granted patents | Published applications |
|---|---|---|
| 1979 | 1 | 0 |
| 1980 | 1 | 0 |
| 1981 | 0 | 0 |
| 1982 | 0 | 0 |
| 1983 | 0 | 0 |
| 1984 | 0 | 0 |
| 1985 | 4 | 0 |
| 1986 | 3 | 0 |
| 1987 | 1 | 0 |
| 1988 | 5 | 0 |
| 1989 | 7 | 0 |
| 1990 | 13 | 0 |
| 1991 | 8 | 0 |
| 1992 | 9 | 0 |
| 1993 | 6 | 0 |
| 1994 | 11 | 0 |
| 1995 | 8 | 0 |
| 1996 | 7 | 0 |
| 1997 | 6 | 0 |
| 1998 | 15 | 0 |
| 1999 | 6 | 0 |
| 2000 | 5 | 0 |
| 2001 | 12 | 4 |
| 2002 | 13 | 12 |
| 2003 | 10 | 15 |
| 2004 | 9 | 20 |
| 2005 | 14 | 25 |
| 2006 | 18 | 14 |
| 2007 | 15 | 20 |
| 2008 | 11 | 22 |
| 2009 | 5 | 17 |
| 2010 | 15 | 29 |
| 2011 | 13 | 40 |
| 2012 | 15 | 28 |
| 2013 | 35 | 80 |
| 2014 | 42 | 113 |
| 2015 | 110 | 125 |
| 2016 | 131 | 155 |
| 2017 | 139 | 182 |
| 2018 | 141 | 308 |
| 2019 | 173 | 415 |
| 2020 | 267 | 531 |
| 2021 | 341 | 633 |
| 2022 | 417 | 675 |
| 2023 | 550 | 641 |
| 2024 | 545 | 627 |
| 2025 | 644 | 626 |
| 2026 | 498 | 549 |
By publication year. Applications have been published since 2001. 2026 runs to 8 Oct.
Subgroups
Granted patents
- B25J 9/163Learning, adaptive, model based, rule based expert control2,029
- B25J 9/1633Compliant, force, torque control1,237
- B25J 9/1653Parameters identification, estimation, stiffness, accuracy, error analysis707
- B25J 9/1638Compensation for arm bending/inertia, pay load weight/inertia335
- B25J 9/1651Acceleration, rate control261
- B25J 9/1641Compensation for backlash, friction, compliance, elasticity in the joints251
- B25J 9/1635Flexible-arm control116
- B25J 9/1643Redundant control109
Recent patents
- System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement6 Oct 2026US 12,751,779 B2Intuitive Surgical Operations, Inc.
- Expedited robot teach-through initialization from previously trained system6 Oct 2026US 12,752,420 B2Sanctuary Cognitive Systems Corporation
- Disturbance compensation in computer-assisted devices6 Oct 2026US 12,752,421 B2Intuitive Surgical Operations, Inc.
- Industrial robot production data clustering for anomaly prediction6 Oct 2026US 12,752,422 B2Fanuc America Corporation
- Method and apparatus for implementing a safety configuration6 Oct 2026US 12,752,426 B2ABB Schweiz AG
- Inverse kinematics of a surgical robot for teleoperation with hardware constraints8 Oct 2026US 2026/0306201 A1Auris Health, Inc.
- Modularized home robot8 Oct 2026US 2026/0307239 A1Trifo, Inc.
- System and Method for Controlling Wheeled Mobile Manipulators8 Oct 2026US 2026/0307246 A1Mitsubishi Electric Research Laboratories, Inc.
- System(s) and method(s) of using behavioral cloning value approximation in training and refining robotic control policies8 Oct 2026US 2026/0307247 A1GDM Holding LLC
- Control method, control apparatus, robot system, method for manufacturing a product, and recording medium8 Oct 2026US 2026/0307251 A1Canon Kabushiki Kaisha
Most cited
By later US patents
- Robotic surgery system including position sensors using fiber bragg gratings1,733US 7,930,065 B2Intuitive Surgical Operations, Inc. · 2011
- Joint-space impedance control for tendon-driven manipulators1,187US 8,060,250 B2GM Global Technology Operations LLC · 2011
- Torque-position transformer for task control of position controlled robots1,182US 7,211,979 B2The Broad of Trustees of the Leland Stanford Junior University · 2007
- Torque compensation1,065US 9,675,354 B2Intuitive Surgical Operations, Inc. · 2017
- Manipulator and control method therefor1,036US 8,237,388 B2Kabushiki Kaisha Toshiba · 2012