Patents by Inventor Hongyu Wan

Hongyu Wan 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).

  • ROBOT CALIBRATION METHOD BASED ON POSE CONSTRAINT AND FORCE SENSING
    Publication number: 20250108513
    Abstract: A robot calibration method based on pose constraint and force sensing includes the following steps: establishing a kinematic model, a geometric error model, and a non-geometric error model; installing an end calibration device to an end of a robot, and installing to the geometric constraint device into a working space of the robot; dragging the robot, constraining various calibration spheres of the end calibration device into various V-shaped grooves on the geometric constraint device to achieve pose constraint; then dragging the calibration spheres to V-shaped grooves on different surfaces, and calibrating a geometric parameter error of the robot using a deviation between a nominal end pose measured twice and an actual value; reading an end force by a force sensor to calibrate the non-geometric error model; identifying kinematic model parameters of a corresponding robot; and compensating an identified kinematic model parameter error to a controller of the robot.
    Type: Application
    Filed: June 20, 2023
    Publication date: April 3, 2025
    Applicant: NINGBO INSTITUTE OF MATERIALS TECHNOLOGY AND ENGINEERING, CHINESE ACADEMY OF SCIENCES
    Inventors: Guilin YANG, Jianhui HE, Silu CHEN, Hongyu WAN, Jingbo LUO, Ye TANG, Zhihui ZHANG, Qingying CHEN, Chi ZHANG
  • Robot calibration method based on pose constraint and force sensing
    Patent number: 12263602
    Abstract: A robot calibration method based on pose constraint and force sensing includes the following steps: establishing a kinematic model, a geometric error model, and a non-geometric error model; installing an end calibration device to an end of a robot, and installing to the geometric constraint device into a working space of the robot; dragging the robot, constraining various calibration spheres of the end calibration device into various V-shaped grooves on the geometric constraint device to achieve pose constraint; then dragging the calibration spheres to V-shaped grooves on different surfaces, and calibrating a geometric parameter error of the robot using a deviation between a nominal end pose measured twice and an actual value; reading an end force by a force sensor to calibrate the non-geometric error model; identifying kinematic model parameters of a corresponding robot; and compensating an identified kinematic model parameter error to a controller of the robot.
    Type: Grant
    Filed: June 20, 2023
    Date of Patent: April 1, 2025
    Assignee: NINGBO INSTITUTE OF MATERIALS TECHNOLOGY AND ENGINEERING, CHINESE ACADEMY OF SCIENCES
    Inventors: Guilin Yang, Jianhui He, Silu Chen, Hongyu Wan, Jingbo Luo, Ye Tang, Zhihui Zhang, Qingying Chen, Chi Zhang