EP2258521 - CONTROL APPARATUS AND CONTROL METHOD FOR A ROBOT ARM, ROBOT, CONTROL PROGRAM FOR A ROBOT ARM, AND ELECTRONIC INTEGRATED CIRCUIT FOR CONTROLLING A ROBOT ARM [Right-click to bookmark this link] | Status | No opposition filed within time limit Status updated on 24.06.2016 Database last updated on 03.09.2024 | Most recent event Tooltip | 17.08.2018 | Lapse of the patent in a contracting state New state(s): BG | published on 19.09.2018 [2018/38] | Applicant(s) | For all designated states Panasonic Intellectual Property Management Co., Ltd. 7 OBP Panasonic Tower 1-61, Shiromi 2-chome Chuo-ku Osaka-shi, Osaka 540-6207 / JP | [N/P] |
Former [2015/14] | For all designated states Panasonic Intellectual Property Management Co., Ltd. 7 OBP Panasonic Tower 1-61, Shiromi 2-chome Chuo-ku Osaka-shi Osaka 540-6207 / JP | ||
Former [2010/49] | For all designated states Panasonic Corporation 1006, Oaza Kadoma Kadoma-shi Osaka 571-8501 / JP | Inventor(s) | 01 /
TSUSAKA, Yuko c/o Panasonic Corporation Intellectual Property Rights Operations Company IP Development Center 7F Twin 21 OBP Panasonic Tower, 2-1-61 Shiromi, Chuo-ku Osaka 540-6207 / JP | 02 /
OKAZAKI, Yasunao c/o Panasonic Corporation Intellectual Property Rights Operations Company IP Development Center 7F Twin 21 OBP Panasonic Tower, 2-1-61 Shiromi, Chuo-ku Osaka 540-6207 / JP | [2015/34] |
Former [2010/49] | 01 /
TSUSAKA, Yuko c/o Panasonic Corporation Intellectual Property Rights Operations Company IP Development Center 7F Twin 21 OBP Panasonic Tower 2-1-61 Shiromi, Chuo-ku Osaka 540-6207 / JP | ||
02 /
OKAZAKI, Yasunao c/o Panasonic Corporation Intellectual Property Rights Operations Company IP Development Center 7F Twin 21 OBP Panasonic Tower 2-1-61 Shiromi, Chuo-ku Osaka 540-6207 / JP | Representative(s) | Eisenführ Speiser Patentanwälte Rechtsanwälte PartGmbB Postfach 10 60 78 28060 Bremen / DE | [2015/34] |
Former [2012/34] | Eisenführ, Speiser & Partner Postfach 10 60 78 28060 Bremen / DE | ||
Former [2010/49] | Eisenführ, Günther Eisenführ, Speiser & Partner Patentanwälte Rechtsanwälte Postfach 10 60 78 28060 Bremen / DE | Application number, filing date | 09715917.2 | 24.02.2009 | [2010/49] | WO2009JP00783 | Priority number, date | JP20080047375 | 28.02.2008 Original published format: JP 2008047375 | [2010/49] | Filing language | JA | Procedural language | EN | Publication | Type: | A1 Application with search report | No.: | WO2009107358 | Date: | 03.09.2009 | Language: | JA | [2009/36] | Type: | A1 Application with search report | No.: | EP2258521 | Date: | 08.12.2010 | Language: | EN | [2010/49] | Type: | B1 Patent specification | No.: | EP2258521 | Date: | 19.08.2015 | Language: | EN | [2015/34] | Search report(s) | International search report - published on: | JP | 03.09.2009 | (Supplementary) European search report - dispatched on: | EP | 06.03.2014 | Classification | IPC: | G05B19/423, B25J9/16, B25J9/00, B25J13/08 | [2014/14] | CPC: |
B25J13/085 (EP,US);
B25J9/1633 (EP,US);
G05B19/423 (EP,US);
G05B2219/36418 (EP,US);
G05B2219/36432 (EP,US);
G05B2219/36489 (EP,US);
G05B2219/37357 (EP,US);
G05B2219/39325 (EP,US);
G05B2219/39343 (EP,US);
G05B2219/40411 (EP,US)
(-)
|
Former IPC [2010/49] | B25J9/22, B25J13/08 | Designated contracting states | AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LI, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, SE, SI, SK, TR [2015/34] |
Former [2010/49] | AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LI, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, SE, SI, SK, TR | Title | German: | STEUERVORRICHTUNG UND STEUERVERFAHREN FÜR EINEN ROBOTERARM, ROBOTER, STEUERPROGRAMM FÜR EINEN ROBOTERARM UND INTEGRIERTER ELEKTRONISCHER SCHALTKREIS ZUR STEUERUNG EINES ROBOTERARMS | [2010/49] | English: | CONTROL APPARATUS AND CONTROL METHOD FOR A ROBOT ARM, ROBOT, CONTROL PROGRAM FOR A ROBOT ARM, AND ELECTRONIC INTEGRATED CIRCUIT FOR CONTROLLING A ROBOT ARM | [2010/49] | French: | APPAREIL DE CONTRÔLE ET PROCÉDÉ DE CONTRÔLE POUR UN BRAS ROBOTISÉ, ROBOT, PROGRAMME DE CONTRÔLE POUR UN BRAS ROBOTISÉ, ET CIRCUIT ÉLECTRONIQUE INTÉGRÉ POUR CONTRÔLER UN BRAS ROBOTISÉ | [2010/49] | Entry into regional phase | 22.07.2010 | Translation filed | 28.09.2010 | National basic fee paid | 28.09.2010 | Search fee paid | 28.09.2010 | Designation fee(s) paid | 28.09.2010 | Examination fee paid | Examination procedure | 04.11.2009 | Request for preliminary examination filed International Preliminary Examining Authority: JP | 28.09.2010 | Examination requested [2010/49] | 25.09.2014 | Amendment by applicant (claims and/or description) | 11.03.2015 | Communication of intention to grant the patent | 10.07.2015 | Fee for grant paid | 10.07.2015 | Fee for publishing/printing paid | 10.07.2015 | Receipt of the translation of the claim(s) | Divisional application(s) | EP10190098.3 / EP2296068 | The date of the Examining Division's first communication in respect of the earliest application for which a communication has been issued is 11.03.2015 | Opposition(s) | 20.05.2016 | No opposition filed within time limit [2016/30] | Fees paid | Renewal fee | 28.02.2011 | Renewal fee patent year 03 | 29.02.2012 | Renewal fee patent year 04 | 28.02.2013 | Renewal fee patent year 05 | 20.02.2014 | Renewal fee patent year 06 | 23.02.2015 | Renewal fee patent year 07 |
Opt-out from the exclusive Tooltip competence of the Unified Patent Court | See the Register of the Unified Patent Court for opt-out data | ||
Responsibility for the accuracy, completeness or quality of the data displayed under the link provided lies entirely with the Unified Patent Court. | Lapses during opposition Tooltip | HU | 24.02.2009 | AT | 19.08.2015 | BE | 19.08.2015 | BG | 19.08.2015 | CY | 19.08.2015 | CZ | 19.08.2015 | DK | 19.08.2015 | EE | 19.08.2015 | ES | 19.08.2015 | FI | 19.08.2015 | HR | 19.08.2015 | IT | 19.08.2015 | LT | 19.08.2015 | LV | 19.08.2015 | MC | 19.08.2015 | MK | 19.08.2015 | NL | 19.08.2015 | PL | 19.08.2015 | RO | 19.08.2015 | SE | 19.08.2015 | SI | 19.08.2015 | SK | 19.08.2015 | TR | 19.08.2015 | NO | 19.11.2015 | GR | 20.11.2015 | IS | 19.12.2015 | PT | 21.12.2015 | GB | 24.02.2016 | IE | 24.02.2016 | LU | 24.02.2016 | CH | 29.02.2016 | FR | 29.02.2016 | LI | 29.02.2016 | MT | 29.02.2016 | [2018/38] |
Former [2018/31] | HU | 24.02.2009 | |
AT | 19.08.2015 | ||
BE | 19.08.2015 | ||
CY | 19.08.2015 | ||
CZ | 19.08.2015 | ||
DK | 19.08.2015 | ||
EE | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
HR | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
MC | 19.08.2015 | ||
MK | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
RO | 19.08.2015 | ||
SE | 19.08.2015 | ||
SI | 19.08.2015 | ||
SK | 19.08.2015 | ||
TR | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
GB | 24.02.2016 | ||
IE | 24.02.2016 | ||
LU | 24.02.2016 | ||
CH | 29.02.2016 | ||
FR | 29.02.2016 | ||
LI | 29.02.2016 | ||
MT | 29.02.2016 | ||
Former [2018/30] | HU | 24.02.2009 | |
AT | 19.08.2015 | ||
BE | 19.08.2015 | ||
CY | 19.08.2015 | ||
CZ | 19.08.2015 | ||
DK | 19.08.2015 | ||
EE | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
HR | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
MC | 19.08.2015 | ||
MK | 19.08.2015 | ||
MT | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
RO | 19.08.2015 | ||
SE | 19.08.2015 | ||
SI | 19.08.2015 | ||
SK | 19.08.2015 | ||
TR | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
GB | 24.02.2016 | ||
IE | 24.02.2016 | ||
LU | 24.02.2016 | ||
CH | 29.02.2016 | ||
FR | 29.02.2016 | ||
LI | 29.02.2016 | ||
Former [2018/28] | HU | 24.02.2009 | |
AT | 19.08.2015 | ||
BE | 19.08.2015 | ||
CY | 19.08.2015 | ||
CZ | 19.08.2015 | ||
DK | 19.08.2015 | ||
EE | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
HR | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
MC | 19.08.2015 | ||
MK | 19.08.2015 | ||
MT | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
RO | 19.08.2015 | ||
SE | 19.08.2015 | ||
SI | 19.08.2015 | ||
SK | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
GB | 24.02.2016 | ||
IE | 24.02.2016 | ||
LU | 24.02.2016 | ||
CH | 29.02.2016 | ||
FR | 29.02.2016 | ||
LI | 29.02.2016 | ||
Former [2017/47] | AT | 19.08.2015 | |
BE | 19.08.2015 | ||
CZ | 19.08.2015 | ||
DK | 19.08.2015 | ||
EE | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
MC | 19.08.2015 | ||
MT | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
RO | 19.08.2015 | ||
SE | 19.08.2015 | ||
SI | 19.08.2015 | ||
SK | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
GB | 24.02.2016 | ||
IE | 24.02.2016 | ||
LU | 24.02.2016 | ||
CH | 29.02.2016 | ||
FR | 29.02.2016 | ||
LI | 29.02.2016 | ||
Former [2017/10] | AT | 19.08.2015 | |
BE | 19.08.2015 | ||
CZ | 19.08.2015 | ||
DK | 19.08.2015 | ||
EE | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
MC | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
RO | 19.08.2015 | ||
SE | 19.08.2015 | ||
SI | 19.08.2015 | ||
SK | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
GB | 24.02.2016 | ||
IE | 24.02.2016 | ||
LU | 24.02.2016 | ||
CH | 29.02.2016 | ||
FR | 29.02.2016 | ||
LI | 29.02.2016 | ||
Former [2017/08] | AT | 19.08.2015 | |
BE | 19.08.2015 | ||
CZ | 19.08.2015 | ||
DK | 19.08.2015 | ||
EE | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
MC | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
RO | 19.08.2015 | ||
SE | 19.08.2015 | ||
SI | 19.08.2015 | ||
SK | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
GB | 24.02.2016 | ||
IE | 24.02.2016 | ||
LU | 24.02.2016 | ||
CH | 29.02.2016 | ||
LI | 29.02.2016 | ||
Former [2017/07] | AT | 19.08.2015 | |
BE | 19.08.2015 | ||
CZ | 19.08.2015 | ||
DK | 19.08.2015 | ||
EE | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
MC | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
RO | 19.08.2015 | ||
SE | 19.08.2015 | ||
SI | 19.08.2015 | ||
SK | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
IE | 24.02.2016 | ||
LU | 24.02.2016 | ||
CH | 29.02.2016 | ||
LI | 29.02.2016 | ||
Former [2017/03] | AT | 19.08.2015 | |
BE | 19.08.2015 | ||
CZ | 19.08.2015 | ||
DK | 19.08.2015 | ||
EE | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
MC | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
RO | 19.08.2015 | ||
SE | 19.08.2015 | ||
SI | 19.08.2015 | ||
SK | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
LU | 24.02.2016 | ||
CH | 29.02.2016 | ||
LI | 29.02.2016 | ||
Former [2016/46] | AT | 19.08.2015 | |
CZ | 19.08.2015 | ||
DK | 19.08.2015 | ||
EE | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
MC | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
RO | 19.08.2015 | ||
SE | 19.08.2015 | ||
SI | 19.08.2015 | ||
SK | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
LU | 24.02.2016 | ||
BE | 29.02.2016 | ||
CH | 29.02.2016 | ||
LI | 29.02.2016 | ||
Former [2016/43] | AT | 19.08.2015 | |
CZ | 19.08.2015 | ||
DK | 19.08.2015 | ||
EE | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
MC | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
RO | 19.08.2015 | ||
SE | 19.08.2015 | ||
SI | 19.08.2015 | ||
SK | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
LU | 24.02.2016 | ||
BE | 29.02.2016 | ||
Former [2016/42] | AT | 19.08.2015 | |
CZ | 19.08.2015 | ||
DK | 19.08.2015 | ||
EE | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
MC | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
RO | 19.08.2015 | ||
SE | 19.08.2015 | ||
SI | 19.08.2015 | ||
SK | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
BE | 29.02.2016 | ||
Former [2016/36] | AT | 19.08.2015 | |
CZ | 19.08.2015 | ||
DK | 19.08.2015 | ||
EE | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
RO | 19.08.2015 | ||
SE | 19.08.2015 | ||
SI | 19.08.2015 | ||
SK | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
BE | 29.02.2016 | ||
Former [2016/24] | AT | 19.08.2015 | |
CZ | 19.08.2015 | ||
DK | 19.08.2015 | ||
EE | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
RO | 19.08.2015 | ||
SE | 19.08.2015 | ||
SK | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
BE | 29.02.2016 | ||
Former [2016/23] | AT | 19.08.2015 | |
CZ | 19.08.2015 | ||
DK | 19.08.2015 | ||
EE | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
RO | 19.08.2015 | ||
SE | 19.08.2015 | ||
SK | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
Former [2016/22] | AT | 19.08.2015 | |
CZ | 19.08.2015 | ||
DK | 19.08.2015 | ||
EE | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
SE | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
Former [2016/21] | AT | 19.08.2015 | |
DK | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
IT | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
SE | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
Former [2016/20] | AT | 19.08.2015 | |
DK | 19.08.2015 | ||
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
SE | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
Former [2016/14] | AT | 19.08.2015 | |
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
NL | 19.08.2015 | ||
PL | 19.08.2015 | ||
SE | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
Former [2016/11] | AT | 19.08.2015 | |
ES | 19.08.2015 | ||
FI | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
PL | 19.08.2015 | ||
SE | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
Former [2016/10] | ES | 19.08.2015 | |
FI | 19.08.2015 | ||
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
PL | 19.08.2015 | ||
SE | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
IS | 19.12.2015 | ||
PT | 21.12.2015 | ||
Former [2016/09] | FI | 19.08.2015 | |
LT | 19.08.2015 | ||
LV | 19.08.2015 | ||
NO | 19.11.2015 | ||
GR | 20.11.2015 | ||
Former [2016/08] | LT | 19.08.2015 | |
NO | 19.11.2015 | ||
Former [2016/07] | LT | 19.08.2015 | Documents cited: | Search | [Y]JP2004049731 (YASKAWA ELECTRIC CORP) [Y] 1-24 * paragraph [0009] - paragraph [0014] *; | [Y]US6385508 (MCGEE H DEAN [US], et al) [Y] 1-24 * column 4, line 62 - column 12, line 45 * * figure 1 *; | [Y]US6285920 (MCGEE H DEAN [US], et al) [Y] 1-24 * column 1, line 63 - column 4, line 57 * * column 5, line 32 - column 6, line 15 * * claims 1-11 * * figures 3-5 *; | [A]EP0416123 (FANUC LTD [JP]) [A] 1,3-12,21-24 * the whole document *; | [A]JP2001277162 (OMRON TATEISI ELECTRONICS CO) [A] 2 * the whole document *; | [A]US6496756 (NISHIZAWA KOUJI [JP], et al) [A] 15-20 * the whole document * | [A] - ANDERSON R J ET AL, "HYBRID IMPEDANCE CONTROL OF ROBOTIC MANIPULATORS", IEEE JOURNAL OF ROBOTICS AND AUTOMATION, IEEE INC. NEW YORK, US, (19881001), vol. 4, no. 5, doi:10.1109/56.20440, pages 549 - 556, XP000004472 [A] 1,21-24 * the whole document * DOI: http://dx.doi.org/10.1109/56.20440 | International search | [X]JP2004049731 (YASKAWA ELECTRIC CORP); | [X]JP2004148466 (YASKAWA ELECTRIC CORP); | [Y]JPH06190753 (FUJITSU LTD); | [Y]JP2005148789 (FANUC LTD); | [Y]JP2002120174 (SONY CORP); | [Y]JPH10254527 (KAWASAKI HEAVY IND LTD); | [Y]JPH02250782 (FANUC LTD); | [Y]JPH01146645 (FUJITSU LTD) | by applicant | JPS59157715 | JPH0784632 |