ICS25.040.30

CCSL66

中華人民共和國國家標(biāo)準(zhǔn)

GB/T44589—2024

機(jī)器人自適應(yīng)能力技術(shù)要求

Technicalrequirementsforadaptivecapabilityofrobots

2024?09?29發(fā)布2025?04?01實(shí)施

國家市場監(jiān)督管理總局

國家標(biāo)準(zhǔn)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(shù)語和定義··············································································································1

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

5機(jī)器人自適應(yīng)能力項(xiàng)··································································································2

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

5.2位姿偏差補(bǔ)償·····································································································2

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

5.4任務(wù)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(jī)器人自適應(yīng)能力要求·······························································································4

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

7.2位姿偏差補(bǔ)償能力·······························································································4

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

7.4任務(wù)泛化能力·····································································································5

附錄A（資料性）機(jī)器人自適應(yīng)能力測試方法········································································7

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

A.2測試準(zhǔn)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(bǔ)償能力測試·······················································································11

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

A.9任務(wù)泛化能力···································································································14

A.10結(jié)果判定········································································································15

附錄B（資料性）機(jī)器人自適應(yīng)能力評價(jià)·············································································16

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

B.2機(jī)器人自適應(yīng)能力等級·······················································································16

B.3技術(shù)指標(biāo)·········································································································16

B.4綜合等級評價(jià)···································································································18

參考文獻(xiàn)····················································································································19

Ⅰ

GB/T44589—2024

前言

本文件按照GB/T1.1—2020《標(biāo)準(zhǔn)化工作導(dǎo)則第1部分：標(biāo)準(zhǔn)化文件的結(jié)構(gòu)和起草規(guī)則》的規(guī)

定起草。

請注意本文件的某些內(nèi)容可能涉及專利。本文件的發(fā)布機(jī)構(gòu)不承擔(dān)識別專利的責(zé)任。

本文件由中國機(jī)械工業(yè)聯(lián)合會提出。

本文件由全國機(jī)器人標(biāo)準(zhǔn)化技術(shù)委員會（SAC/TC591）歸口。

本文件起草單位：北京機(jī)械工業(yè)自動化研究所有限公司、上海非夕機(jī)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(jī)器人有限公司、浙江大學(xué)、重慶凱瑞機(jī)器人技術(shù)

有限公司、山東省標(biāo)準(zhǔn)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(jī)器人研究院、

上海市人工智能技術(shù)協(xié)會、伯朗特機(jī)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(jī)器人

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

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

省通訊終端產(chǎn)業(yè)技術(shù)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(jī)器人科技有限公司、江蘇菲達(dá)寶開電氣股份有限公司、蘇州塔

米機(jī)器人有限公司、智昌科技集團(tuán)股份有限公司。

本文件主要起草人：王世全、胡曉平、張利強(qiáng)、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(qiáng)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(xué)、何延浩。

Ⅲ

GB/T44589—2024

機(jī)器人自適應(yīng)能力技術(shù)要求

1范圍

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

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

使用。

2規(guī)范性引用文件

下列文件中的內(nèi)容通過文中的規(guī)范性引用而構(gòu)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(yīng)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(jī)器人力控制技術(shù)規(guī)范

3術(shù)語和定義

下列