GB/T 44589-2024機器人自適應能力技術要求

ICS25.040.30

CCSL66

中華人民共和國國家標準

GB/T44589—2024

機器人自適應能力技術要求

Technicalrequirementsforadaptivecapabilityofrobots

2024?09?29發(fā)布2025?04?01實施

國家市場監(jiān)督管理總局

國家標準化管理委員會發(fā)布

GB/T44589—2024

目次

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

1范圍·······················································································································1

2規(guī)范性引用文件········································································································1

3術語和定義··············································································································1

4縮略語····················································································································2

5機器人自適應能力項··································································································2

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

5.2位姿偏差補償·····································································································2

5.3抗干擾··············································································································3

5.4任務泛化···········································································································3

6組件要求·················································································································3

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

6.2感知組件要求·····································································································3

6.3力位協(xié)同控制組件要求·························································································4

7機器人自適應能力要求·······························································································4

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

7.2位姿偏差補償能力·······························································································4

7.3抗干擾能力········································································································5

7.4任務泛化能力·····································································································5

附錄A（資料性）機器人自適應能力測試方法········································································7

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

A.2測試準備···········································································································7

A.3位姿感知測試·····································································································8

A.4力感知測試········································································································8

A.5靜態(tài)力控測試·····································································································9

A.6位姿控制和動態(tài)力控測試····················································································10

A.7位姿偏差補償能力測試·······················································································11

A.8抗干擾能力······································································································12

A.9任務泛化能力···································································································14

A.10結果判定········································································································15

附錄B（資料性）機器人自適應能力評價·············································································16

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

B.2機器人自適應能力等級·······················································································16

B.3技術指標·········································································································16

B.4綜合等級評價···································································································18

參考文獻····················································································································19

Ⅰ

GB/T44589—2024

前言

本文件按照GB/T1.1—2020《標準化工作導則第1部分：標準化文件的結構和起草規(guī)則》的規(guī)

定起草。

請注意本文件的某些內容可能涉及專利。本文件的發(fā)布機構不承擔識別專利的責任。

本文件由中國機械工業(yè)聯(lián)合會提出。

本文件由全國機器人標準化技術委員會（SAC/TC591）歸口。

本文件起草單位：北京機械工業(yè)自動化研究所有限公司、上海非夕機器人科技有限公司、科大訊飛

股份有限公司、廣東美的電氣有限公司、深圳市大族機器人有限公司、浙江大學、重慶凱瑞機器人技術

有限公司、山東省標準化研究院、上海傅利葉智能科技有限公司、深圳市人工智能與機器人研究院、

上海市人工智能技術協(xié)會、伯朗特機器人股份有限公司、上海仙工智能科技有限公司、上海節(jié)卡機器人

科技有限公司、廣州藍海機器人系統(tǒng)有限公司、蕪湖藦卡機器人科技有限公司、無錫黎曼機器人科技有

限公司、廣州里工實業(yè)有限公司、杭州靈西機器人智能科技有限公司、蘇州靈猴機器人有限公司、江西

省通訊終端產(chǎn)業(yè)技術研究院有限公司、江蘇蘿貝電動車有限公司、深圳市速程精密科技有限公司、北京

匯力智能科技有限公司、深圳優(yōu)艾智合機器人科技有限公司、江蘇菲達寶開電氣股份有限公司、蘇州塔

米機器人有限公司、智昌科技集團股份有限公司。

本文件主要起草人：王世全、胡曉平、張利強、楊秋影、徐振楠、唐文博、佘鳳珠、季超、梁喬玲、

陶玉梅、陳文杰、王光能、姜奎書、鄧祥武、吳璇、趙釗、薛靖婉、熊蓉、王越、李本旺、公續(xù)銀、曾翔、

付樟華、朱遷喬、郭金龍、黃強盛、許雄、徐文斌、楊裕才、張剛、李衛(wèi)銃、丁丁、曹俊、吳成中、許華劍、

郭艷玲、楊濤、邊旭、夏軍、朱悅、甘中學、何延浩。

Ⅲ

GB/T44589—2024

機器人自適應能力技術要求

1范圍

本文件規(guī)定了機器人自適應能力在力控層面的自適應能力項，組件和能力技術要求。

本文件適用于機器人自適應能力在力控層面的技術開發(fā)、測試和評價，其他類型自適應能力參考

使用。

2規(guī)范性引用文件

下列文件中的內容通過文中的規(guī)范性引用而構成本文件必不可少的條款。其中，注日期的引用文

件，僅該日期對應的版本適用于本文件；不注日期的引用文件，其最新版本（包括所有的修改單）適用于

本文件。

GB/T38559—2020工業(yè)機器人力控制技術規(guī)范

3術語和定義

下列