GB/T 44589-2024 机器人自适应能力技术要求

ICS25.040.30

CCSL66

中华人民共和国国家标准

GB/T44589—2024

机器人自适应能力技术要求

Technicalrequirementsforadaptivecapabilityofrobots

2024⁃09⁃29发布2025⁃04⁃01实施

国家市场监督管理总局

国家标准化管理委员会发布

GB/T44589—2024

目次

前言··························································································································Ⅲ

1范围·······················································································································1

2规范性引用文件········································································································1

3术语和定义··············································································································1

4缩略语····················································································································2

5机器人自适应能力项··································································································2

5.1概述·················································································································2

5.2位姿偏差补偿·····································································································2

5.3抗干扰··············································································································3

5.4任务泛化···········································································································3

6组件要求·················································································································3

6.1通用要求···········································································································3

6.2感知组件要求·····································································································3

6.3力位协同控制组件要求·························································································4

7机器人自适应能力要求·······························································································4

7.1通用要求···········································································································4

7.2位姿偏差补偿能力·······························································································4

7.3抗干扰能力········································································································5

7.4任务泛化能力·····································································································5

附录A（资料性）机器人自适应能力测试方法········································································7

A.1概述·················································································································7

A.2测试准备···········································································································7

A.3位姿感知测试·····································································································8

A.4力感知测试········································································································8

A.5静态力控测试·····································································································9

A.6位姿控制和动态力控测试····················································································10

A.7位姿偏差补偿能力测试·······················································································11

A.8抗干扰能力······································································································12

A.9任务泛化能力···································································································14

A.10结果判定········································································································15

附录B（资料性）机器人自适应能力评价·············································································16

B.1概述···············································································································16

B.2机器人自适应能力等级·······················································································16

B.3技术指标·········································································································16

B.4综合等级评价···································································································18

参考文献····················································································································19

Ⅰ

GB/T44589—2024

前言

本文件按照GB/T1.1—2020《标准化工作导则第1部分：标准化文件的结构和起草规则》的规

定起草。

请注意本文件的某些内容可能涉及专利。本文件的发布机构不承担识别专利的责任。

本文件由中国机械工业联合会提出。

本文件由全国机器人标准化技术委员会（SAC/TC591）归口。

本文件起草单位：北京机械工业自动化研究所有限公司、上海非夕机器人科技有限公司、科大讯飞

股份有限公司、广东美的电气有限公司、深圳市大族机器人有限公司、浙江大学、重庆凯瑞机器人技术

有限公司、山东省标准化研究院、上海傅利叶智能科技有限公司、深圳市人工智能与机器人研究院、

上海市人工智能技术协会、伯朗特机器人股份有限公司、上海仙工智能科技有限公司、上海节卡机器人

科技有限公司、广州蓝海机器人系统有限公司、芜湖藦卡机器人科技有限公司、无锡黎曼机器人科技有

限公司、广州里工实业有限公司、杭州灵西机器人智能科技有限公司、苏州灵猴机器人有限公司、江西

省通讯终端产业技术研究院有限公司、江苏萝贝电动车有限公司、深圳市速程精密科技有限公司、北京

汇力智能科技有限公司、深圳优艾智合机器人科技有限公司、江苏菲达宝开电气股份有限公司、苏州塔

米机器人有限公司、智昌科技集团股份有限公司。

本文件主要起草人：王世全、胡晓平、张利强、杨秋影、徐振楠、唐文博、佘凤珠、季超、梁乔玲、

陶玉梅、陈文杰、王光能、姜奎书、邓祥武、吴璇、赵钊、薛靖婉、熊蓉、王越、李本旺、公续银、曾翔、

付樟华、朱迁乔、郭金龙、黄强盛、许雄、徐文斌、杨裕才、张刚、李卫铳、丁丁、曹俊、吴成中、许华剑、

郭艳玲、杨涛、边旭、夏军、朱悦、甘中学、何延浩。

Ⅲ

GB/T44589—2024

机器人自适应能力技术要求

1范围

本文件规定了机器人自适应能力在力控层面的自适应能力项，组件和能力技术要求。

本文件适用于机器人自适应能力在力控层面的技术开发、测试和评价，其他类型自适应能力参考

使用。

2规范性引用文件

下列文件中的内容通过文中的规范性引用而构成本文件必不可少的条款。其中，注日期的引用文

件，仅该日期对应的版本适用于本文件；不注日期的引用文件，其最新版本（包括所有的修改单）适用于

本文件。

GB/T38559—2020工业机器人力控制技术规范

3术语和定义

下列术语和定义适用于本文件。

3.1

机器人系统robotsystem

由（多）机器人、（多）末端执行器和为使机器人完成其任务所需的任何机械、设备、装置或传感器构

成的系统。

[来源：GB/T12643—2013，2.14]

3.2

机器人自适应能力adaptivecapabilityofrobot

机器人在非结构化工况中，采用力位协同控制的方式完成工作任务的能力。即通过对操作对象、

环境和任务的识别分析，进行适应性调节控制，来完成复杂工作。

3.3

力感知forcesensing

机器人通过算法估计或力传感器感知和测量外界力的能力。

3.4

力位协同控制forcepositioncollaborativecontrol

力控制（转矩控制）和位置控制（定位控制）融合后的复合控制策略。

[来源：GB/T38559—2020，3.15]

3.5

力控forcecontrol

以力或力矩为控制目标的控制模式，且力或力矩传感的准确度、精度和力控制响应速度达到自适

应能力的要求。

3.6

非结构化工况unstructuredoperatingconditions

工况中的元素都是不确定的、不规则的、有外部干扰的，工况包含操作对象、环境和任务。

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GB/T44589—2024

3.7

位姿偏差补偿能力posedeviationcompensationcapability

当机器人末端执行器实际位姿与任务预期位姿之间存在偏差时，机器人完成预期任务的最大允许

偏差值。

3.8

抗干扰能力disturbancerejectioncapability

在有外界干扰的情况下，机器人完成预期任务的能力。

3.9

任务泛化能力taskgeneralizationcapability

机器人在能够完成某一件任务的前提下，快速部署在其他相似场景并自主完成相似任务的能力。

3.10

分布标准差distributionstandarddeviation

机器人在位姿控制、力控时，控制精度指标自平均值分散开来的程度。

3.11

静态力控staticforcecontrol

机器人与环境静态接触，并输出一个力。

3.12

动态力控dynamicforcecontrol

机器人在一个方向输出力的同时在其他方向作位置控制。

3.13

阶跃响应stepresponse

当输入为一个阶跃波时，测量系统的输出与时间的关系。

4缩略语

下列缩略语适用于本文件。

TCP：工具中心点（ToolCenterPoint）

5机器人自适应能力项

5.1概述

机器人在非结构化工况中适应操作对象和任务以及环境的变化，分为以下三种自适应能力项：

a）位姿偏差补偿：实现对机器人执行器期望操作位姿的自适应；

b）抗干扰：实现对外界环境干扰的自适应；

c）任务泛化：实现对机器人操作任务的自适应。

5.2位姿偏差补偿

机器人针对位姿不确定的操作对象执行任务时，补偿和减小以下这些因素造成的机器人末端执行

器实际位姿与任务期望的末端执行器位姿间的偏差：

a）机器人运动控制累积偏差；

b）受力下发生的形变；

c）外部传感器的测量与校正偏差；

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GB/T44589—2024

d）操作对象产品尺寸偏差；

e）操作对象姿态偏差；

f）操作工艺偏差。

5.3抗干扰

在非结构化工况下，机器人抵消或者顺应以下干扰造成的位姿和作用力振荡：

a）机器人本体振动；

b）操作工具振动；

c）操作对象振动。

5.4任务泛化

在非人工干预下，机器人自主完成相似操作任务，包括但不限于：

a）相似物体操作。包括形状、大小和/或质量等特性相似且偏差在一定范围内的物体;

注1：应用于物品抓取、插销入孔、齿轮啮合、旋拧螺钉等场景。

b）相似面贴合任务。包括材质和/或曲率等特性存在差异且差异在一定范围内的接触面。

注2：应用于打磨、抛光、去毛刺、医疗超声检测等场景。

6组件要求

6.1通用要求

机器人自适应能力组件应包括力感知和力控等组件，宜具有以下感知和控制功能。

a）位姿感知功能。通过视觉、位置、角度、姿态等传感器，感知机器人TCP位姿状态。

b）力感知功能。通过力、扭矩等传感器，感知机器人与外界环境接触力或/和力矩。

c）力位协同控制功能。包括位姿控制和力控功能：

——位姿控制功能：机器人通过运动控制，调整机器人TCP至预期位姿；

——力控功能：机器人通过力或/和力矩控制，调整机器人与外界环境接触力或/和力矩至预

期要求。

6.2感知组件要求

6.2.1位姿感知要求

TCP位姿感知组件应符合以下要求：

a）位置精度不超过1mm；

b）位置灵敏度不超过0.2mm；

c）姿态精度不超过0.5°；

d）姿态灵敏度不超过0.1°；

e）采样频率不低于1000Hz。

6.2.2力感知要求

力感知组件应符合以下要求：

a）精度不超过0.5%FS；

b）灵敏度不超过0.1%FS；

c）采样频率不低于1000Hz。

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GB/T44589—2024

6.3力位协同控制组件要求

6.3.1位姿控制要求

在10%额定轨迹速度工况下，TCP位姿控制精度应符合以下要求：

a）位置跟踪平均误差小于3mm；

b）位置跟踪最大误差小于6mm；

c）姿态跟踪平均误差小于1°；

d）姿态跟踪最大误差小于2°；

e）线速度跟踪平均误差小于30mm/s；

f）线速度跟踪最大误差小于60mm/s；

g）角速度跟踪平均误差小于10（°）/s；

h）角速度跟踪最大误差小于20（°）/s。

6.3.2力控要求

力控包括静态力控和动态力控，应符合以下要求：

a）静态力控阶跃响应的稳态力控误差小于5%额定负载；

b）静态力控阶跃响应的超调小于20%；

c）静态力控阶跃响应的上升时间小于2s；

d）静态力控阶跃响应的稳定时间小于4s；

e）在10%额定轨迹速度工况下，动态力控平均误差小于12.5%额定负载；

f）在10%额定轨迹速度工况下，动态力控最大误差小于25%额定负载。

7机器人自适应能力要求

7.1通用要求

机器人自适应能力应按照GB/T38559—2020中第7章进行应用设计。

机器人自适应能力应符合第6章的组件要求。

根据机器人类型、要求和应用，全部或剪裁采用本文件所述的自适应能力，调整指标要求，各项技

术指标测试方法见附录A，机器人自适应能力评价见附录B。

示例1：适用时，插销入孔、齿轮啮合、旋拧螺钉等柔性装配场景用机器人，应具备位姿偏差补偿、抗干扰和相似物体

操作能力，技术指标应满足7.2、7.3、7.4.1要求。

示例2：适用时，打磨、抛光、去毛刺、医疗超声检测等曲面贴合场景用机器人，应具备位姿偏