Patents by Inventor Yihua Gu
Yihua Gu has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20240131725Abstract: A robot control device controls a robot equipped with a sensor capable of measuring force, the robot control device including: a measurement value acquisition unit acquires a first measurement value measured by the sensor when a first tool having a known mass and center-of-gravity position is placed at the tip of the wrist of the robot and the wrist performs a specific motion, and a second measurement value measured by the sensor when a second tool having a known mass and center-of-gravity position is placed and the wrist performs a specific motion; a measurement value storage unit that stores the first measurement value and the second measurement value acquired by the measurement value acquisition unit; and a correction unit that corrects the measurement values from the sensor, on the basis of the first measurement value and the second measurement value stored in the measurement value storage unit.Type: ApplicationFiled: April 29, 2021Publication date: April 25, 2024Applicant: FANUC CORPORATIONInventors: Kazuki WAKABAYASHI, Yihua GU
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Publication number: 20230311271Abstract: The objective of the present invention is to provide a deburring control device capable of easily identifying the cause of a deburring failure.Type: ApplicationFiled: October 4, 2021Publication date: October 5, 2023Applicant: FANUC CORPORATIONInventors: Yihua GU, Takashi SATOU
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Publication number: 20230211500Abstract: Provided is a program generation device capable of automatically generating a route program which takes into account the amount of bending when the tip of a robot abuts against a workpiece. This program generation device is provided with: an acquisition unit that acquires route data indicating a route to be followed by the tip of the robot with respect to an object; a detection unit that detects a pressing force for pressing the tip of the robot to the object; a calculation unit that calculates the amount of misalignment of the followed route caused by bending of the tip of the robot, on the basis of the pressing force detected by the detection unit and a prescribed constant; and a generation unit that automatically generates a route program for controlling a moving route of the tip of the robot, on the basis of the route data acquired by the acquisition unit and the amount of misalignment calculated by the calculation unit.Type: ApplicationFiled: May 6, 2021Publication date: July 6, 2023Applicant: FANUC CORPORATIONInventors: Takashi SATOU, Yihua GU
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Publication number: 20230191613Abstract: A control device of a robot includes a robot control section configured to control the robot so as to sequentially position the robot at a plurality of target positions, which are set based on shape data representing a shape of a workpiece, and cause the robot to execute a work along a work target portion on the workpiece, and cause the robot to continue the work beyond a final target position of the plurality of target positions after the robot reaches the final target position, the final target position being set to correspond to an end of the work target portion in the shape data.Type: ApplicationFiled: April 9, 2021Publication date: June 22, 2023Inventors: Yuki ISHII, Yihua GU
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Patent number: 11654576Abstract: A robot system causing a robot to operate in response to a handling force, wherein a position of the robot can be adjusted with higher accuracy. In one aspect of the present disclosure, a robot system includes a robot having a handle, a force sensor configured to detect a handling force applied to the handle, and an inching motion execution section configured to execute an inching motion of causing the robot to move by a movement amount determined in response to the handling force detected by the force sensor.Type: GrantFiled: September 25, 2020Date of Patent: May 23, 2023Assignee: FANUC CORPORATIONInventors: Yihua Gu, Takashi Satou
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Publication number: 20230083001Abstract: A deburring device includes a robot program creating unit that creates a program from data of an object, a deburring part detecting unit that detects a position for a deburring part on the object, and a robot program updating unit that updates the program by the detected position of the deburring part. The deburring device also includes a force control unit that controls to yield a predetermined pressing force, an actual path acquiring unit that acquires an actual path of a robot when controlled at the predetermined pressing force by the updated program, and a path correction parameter calculating unit that calculates a correction parameter for the position for the deburring part on the object from the path of the robot from the visual sensor and the actual path.Type: ApplicationFiled: February 15, 2021Publication date: March 16, 2023Applicant: FANUC CORPORATIONInventors: Nobuaki YAMAOKA, Yihua GU
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Patent number: 11358287Abstract: A compact, intuitively-operable input device for manipulating a robot is provided. Provided is an input device for manipulating a robot. The input device includes: a base; a movable section supported in a three-dimensionally movable manner relative to the base; and a detector that performs detection by resolving an operation amount of the movable section relative to the base into parallel movement amounts along a first axis and a second axis, which extend parallel to a predetermined surface of the base and are orthogonal to each other, and a parallel movement amount along a third axis that is orthogonal to the first axis and the second axis.Type: GrantFiled: November 6, 2018Date of Patent: June 14, 2022Assignee: FANUC CORPORATIONInventors: Yuki Ishii, Takashi Satou, Yihua Gu
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Publication number: 20210101291Abstract: A robot system causing a robot to operate in response to a handling force, wherein a position of the robot can be adjusted with higher accuracy. In one aspect of the present disclosure, a robot system includes a robot having a handle, a force sensor configured to detect a handling force applied to the handle, and an inching motion execution section configured to execute an inching motion of causing the robot to move by a movement amount determined in response to the handling force detected by the force sensor.Type: ApplicationFiled: September 25, 2020Publication date: April 8, 2021Inventors: Yihua GU, Takashi SATOU
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Patent number: 10564635Abstract: A robot system capable of reliably detecting contact between a robot or a workpiece and an external object. The robot system includes: a robot including a handling part; a handling force-detection part that detects a handling force applied to the handling part; an operation controller that causes the robot to operate in accordance with the handling force; an external force-detection part that detects an external force acting on the robot; and a contact force-calculation part that calculates a contact force by subtracting the handling force from the detected external force.Type: GrantFiled: March 29, 2017Date of Patent: February 18, 2020Assignee: FANUC CORPORATIONInventors: Takashi Sato, Yihua Gu
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Patent number: 10478935Abstract: A deburring apparatus including: a robot that uses a deburring tool to deburr an object supported by a support in a machine tool, a visual sensor, a relative movement mechanism for causing relative movement between the visual sensor and the object supported by the support; and a controller, wherein the controller is configured to conduct: an operation process that operates the relative movement mechanism based on a visual sensor relative movement program for controlling an operation of the relative movement mechanism so that a ridge of the object supported by the support is detected by the visual sensor during the relative movement; and a deburring operation program generation process which generates a deburring operation program by using the detected ridge obtained by the visual sensor when the relative movement mechanism is operated based on the visual sensor relative movement program.Type: GrantFiled: December 5, 2017Date of Patent: November 19, 2019Assignee: FANUC CORPORATIONInventors: Yihua Gu, Takashi Satou
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Publication number: 20190160689Abstract: A compact, intuitively-operable input device for manipulating a robot is provided. Provided is an input device for manipulating a robot. The input device includes: a base; a movable section supported in a three-dimensionally movable manner relative to the base; and a detector that performs detection by resolving an operation amount of the movable section relative to the base into parallel movement amounts along a first axis and a second axis, which extend parallel to a predetermined surface of the base and are orthogonal to each other, and a parallel movement amount along a third axis that is orthogonal to the first axis and the second axis.Type: ApplicationFiled: November 6, 2018Publication date: May 30, 2019Applicant: Fanuc CorporationInventors: Yuki ISHII, Takashi Satou, Yihua Gu
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Publication number: 20180161952Abstract: A deburring apparatus including: a robot that uses a deburring tool to deburr an object supported by a support in a machine tool, a visual sensor, a relative movement mechanism for causing relative movement between the visual sensor and the object supported by the support; and a controller, wherein the controller is configured to conduct: an operation process that operates the relative movement mechanism based on a visual sensor relative movement program for controlling an operation of the relative movement mechanism so that a ridge of the object supported by the support is detected by the visual sensor during the relative movement; and a deburring operation program generation process which generates a deburring operation program by using the detected ridge obtained by the visual sensor when the relative movement mechanism is operated based on the visual sensor relative movement program.Type: ApplicationFiled: December 5, 2017Publication date: June 14, 2018Applicant: FANUC CORPORATIONInventors: Yihua Gu, Takashi Satou
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Publication number: 20170285625Abstract: A robot system capable of reliably detecting contact between a robot or a workpiece and an external object. The robot system includes: a robot including a handling part; a handling force-detection part that detects a handling force applied to the handling part; an operation controller that causes the robot to operate in accordance with the handling force; an external force-detection part that detects an external force acting on the robot; and a contact force-calculation part that calculates a contact force by subtracting the handling force from the detected external force.Type: ApplicationFiled: March 29, 2017Publication date: October 5, 2017Inventors: Takashi SATO, Yihua GU
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Patent number: 9724801Abstract: A deburring device includes a deburring tool for removing burrs from an object, a robot for moving an object or the tool, a force sensor for detecting force acting on the tool, and a visual sensor for detecting a position of a burr portion of the object. According to the deburring device, information regarding shape data of the burr portion and a posture of the tool is obtained beforehand based on three-dimensional data of the object. Based on the shape data and the posture of the tool, a robot program is created. In accordance with an actual burr portion detected by the visual sensor, the robot program is replaced as necessary. During the deburring, the robot is controlled according to the force control by using a detected value from the force sensor.Type: GrantFiled: June 25, 2014Date of Patent: August 8, 2017Assignee: Fanuc CorporationInventor: Yihua Gu
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Publication number: 20160200809Abstract: The invention provides methods, uses and compositions for the treatment of psoriasis. The invention describes methods and uses for treating psoriasis, wherein a TNF? inhibitor, such as a human TNF? antibody, or antigen-binding portion thereof, is used to treat psoriasis in a subject. Also described are methods for determining the efficacy of a TNF? inhibitor for treatment of psoriasis in a subject.Type: ApplicationFiled: August 17, 2015Publication date: July 14, 2016Inventors: Mary K. Willian, Martin M. Okun, Rebecca S. Hoffman, Yihua Gu, Lisa E. Melilli, Kenneth B. Gordon
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Publication number: 20150050216Abstract: The invention provides methods, uses and compositions for the treatment of psoriasis. The invention describes methods and uses for treating psoriasis, wherein a TNF? inhibitor, such as a human TNF? antibody, or antigen-binding portion thereof, is used to treat psoriasis in a subject. Also described are methods for determining the efficacy of a TNF? inhibitor for treatment psoriasis in a subject.Type: ApplicationFiled: July 8, 2014Publication date: February 19, 2015Inventors: Mary Kaye Willian, Martin M. Okun, Rebecca S. Hoffman, Yihua Gu, Lisa E. Melilli, Kenneth B. Gordon, Subhashis Banerjee, Lori K. Taylor, Daniel E. Tracey, Elliot K. Chartash, William T. Barchuk, Philip Yan, Anwar Murtaza, Jochen G. Salfeld, Steven A. Fischkoff, George R. Granneman
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Publication number: 20150005923Abstract: A deburring device includes a deburring tool for removing burrs from an object, a robot for moving an object or the tool, a force sensor for detecting force acting on the tool, and a visual sensor for detecting a position of a burr portion of the object. According to the deburring device, information regarding shape data of the burr portion and a posture of the tool is obtained beforehand based on three-dimensional data of the object. Based on the shape data and the posture of the tool, a robot program is created. In accordance with an actual burr portion detected by the visual sensor, the robot program is replaced as necessary. During the deburring, the robot is controlled according to the force control by using a detected value from the force sensor.Type: ApplicationFiled: June 25, 2014Publication date: January 1, 2015Applicant: FANUC CORPORATIONInventor: Yihua Gu
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Publication number: 20140079714Abstract: The invention provides methods of treating psoriasis in a subject by administering to a subject an antibody capable of binding to the p40 subunit of IL-12 and/or IL-23.Type: ApplicationFiled: September 11, 2013Publication date: March 20, 2014Inventors: Joaquin Mario Valdes, Elliot K. Chartash, William T. Barchuk, Susan K. Paulson, Kenneth B. Gordon, Walid M. Awni, Yanjun Bao, William G. Glass, Yihua Gu, Thomas C. Harris, Martin Kaul, Parvez M. Mulani, Peter A. Noertersheuser, Martin M. Okun
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Patent number: 8557239Abstract: The invention provides methods of treating psoriasis in a subject by administering to a subject an antibody capable of binding to the p40 subunit of IL-12 and/or IL-23.Type: GrantFiled: September 14, 2010Date of Patent: October 15, 2013Assignees: AbbVie Inc., AbbVie Deutschland GmbH & Co. KGInventors: Joaquin Mario Valdes, Elliot K. Chartash, William T. Barchuk, Susan K. Paulson, Kenneth B. Gordon, Walid M. Awni, Yanjun Bao, William G. Glass, Yihua Gu, Tom C. Harris, Martin Kaul, Parvez M. Mulani, Peter Noertersheuser, Martin M. Okun
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Publication number: 20120189637Abstract: The invention provides methods of treating psoriasis in a subject by administering to a subject an antibody capable of binding to the p40 subunit of IL-12 and/or IL-23.Type: ApplicationFiled: October 6, 2011Publication date: July 26, 2012Inventors: Joaquin Mario Valdes, Susan K. Paulson, Elliot K. Chartash, Yanjun Bao, Parvez M . Mulani, Murali Sundaram, Yihua Gu, Michele Olds Heckaman, Tom C. Harris, Martin Kaul, David Allen Williams, Richard G.B. Langley, Kenneth Gordon