GB/T 38559-2020 PDF English
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Specification of industrial robots force control
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GB/T 38559-2020: PDF in English (GBT 38559-2020) GB/T 38559-2020
GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 25.040.30
J 28
Specification of industrial robots force control
ISSUED ON: MARCH 06, 2020
IMPLEMENTED ON: OCTOBER 01, 2020
Issued by: State Administration for Market Regulation;
Standardization Administration of the People's Republic of
China.
Table of Contents
Foreword ... 3
1 Scope ... 4
2 Normative references ... 4
3 Terms and definitions ... 4
4 Classification and general technical parameters of force control technology 7
4.1 General rule ... 7
4.2 Classification by force control strategy ... 7
4.3 Classification according to sensing method ... 8
4.4 General technical parameters ... 8
5 Force/torque sensor type selection requirements ... 9
5.1 Type ... 9
5.2 General performance index ... 9
5.3 Special performance index ... 11
6 Force control application technology and application conditions... 12
6.1 General rule ... 12
6.2 Dynamic force control technology ... 13
6.3 Constant force control technology ... 13
6.4 Zero force control technology ... 14
6.5 Collision protection technology... 15
7 Force control application design method ... 16
7.1 General rule ... 16
7.2 Design principle ... 16
7.3 Design steps ... 16
Specification of industrial robots force control
1 Scope
This Standard specifies classification and general technical parameters of
industrial robots force control technology, type selection requirements for
force/torque sensor, force control application technology and application
conditions, force control application design method.
This Standard is applicable to force control application technology design of
industrial robots.
2 Normative references
The following referenced documents are indispensable for the application of
this document. For dated references, only the edition cited applies. For undated
references, the latest edition of the referenced document (including any
amendments) applies.
GB/T 5226.1, Electrical safety of machinery - Electrical equipment of
machines - Part 1: General requirements
GB/T 18806-2002, General specification for the resistance strain pressure
transducer/sensor
GB/T 28854-2012, Silicon capacitive pressure sensor
GB/T 36008-2018, Robots and robotic devices - Collaborative robots
JB/T 7482-2008, Piezoelectric pressure sensors
JB/T 7483-2005, Semiconductor resistance strain gauge force
transducer/sensor
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
3.1 passive compliance control
a mechanism that the robot can respond to external forces when it comes into
contact with the environment by virtue of the auxiliary compliance mechanism,
a method that realizes direct force control through closed loop with explicit force
feedback
3.12 position-based direct force control
a method that a control system is composed of internal position closed loop
control and external force closed loop to achieve direct force control
3.13 torque-based direct force control
a method that a control system is composed of internal torque closed loop
control and external force closed loop to achieve direct force control
3.14 hybrid force control
a force control method that integrates multiple control strategies
3.15 force/position hybrid control
a composite control strategy after fusion of force control (torque control) and
position control (positioning control)
NOTE: It mainly refers to the fusion model of force control and position control.
3.16 hybrid impedance control
a control method that combines impedance control and force/position hybrid
control
3.17 adaptive force control
an advanced force control method that uses an adaptive control strategy to
improve the system's adaptability to unknown environments
3.18 robust force control
an advanced force control method that adopts a robust control strategy to
ensure the robust stability and dynamic performance of the system
3.19 learning force control
a control method that uses machine learning methods to improve force control
parameters and improve force control performance
3.20 neural-network force control
an advanced force control method that is based on neural network to learn
system dynamic characteristics
2) impedance control;
3) damping control;
4) admittance control.
b) Direct force control:
1) position-based direct force control;
2) torque-based direct force control.
c) Hybrid force control:
1) force/position hybrid control;
2) hybrid impedance control.
4.2.2 Advanced force control
According to the advanced force control strategy, it is classified into the
following categories:
a) adaptive force control;
b) robust force control;
c) learning force control;
d) neural-network force control;
e) fuzzy force control.
4.3 Classification according to sensing method
According to the sensing method, it is classified into the following three
categories:
a) end force/torque sensor-based force control;
b) joint torque sensor-based force control;
c) motor current-based force control.
4.4 General technical parameters
4.4.1 Resolution
The minimum control amount of force and moment, in newtons per newton
meter [N/(N·m)].
dimension shall not be greater than the zero-point time drift specified in Table
2. The single-dimensional test method is in accordance with the provisions of
6.3.1 in GB/T 18806-2002.
5.2.8 Output time drift
Unless otherwise specified, the output time drift of the sensor in each dimension
shall not be greater than the output time drift specified in Table 2.
5.2.9 Output temperature drift
Unless otherwise specified, the output temperature drift of the sensor in each
dimension shall not be greater than the output temperature drift specified in
Table 2.
5.2.10 Overload capacity
Unless otherwise specified, the overload capacity of the sensor in each
dimension shall not be less than the overload capacity specified in Table 2.
5.3 Special performance index
5.3.1 Special performance index of resistance strain type force/torque
sensor
According to GB/T 18806-2002, the special performance index of resistance
strain type force/torque sensor includes:
a) Output impedance
The output impedance of the sensor shall meet the requirements of the
product technical conditions (detailed specifications).
The output impedance shall be selected from the following values first:
0.06kΩ, 0.12kΩ, 0.15kΩ, 0.24kΩ, 0.35kΩ, 0.45kΩ, 0.6kΩ, 0.8kΩ, 1.0kΩ,
2.0kΩ, 2.4kΩ, 3.5kΩ, 10kΩ.
b) Insulation resistance
The insulation resistance between the lead wire of the sensor and the
housing shall not be less than 500MΩ.
5.3.2 Special performance index of piezoelectric force/torque sensor
According to the provisions of JB/T 7482-2008, the special performance index
of the resistance strain type force/torque sensor shall include:
a) Insulation resistance: the insulation resistance between the lead wire of
the sensor and the housing shall not be less than 1013Ω;
condition requirements.
6.2 Dynamic force control technology
6.2.1 Definition
Dynamic force control technology is applied force control strategy. Dynamically
adjust the force/torque setting value according to the environment and job
requirements. Complete robot assembly and other operations.
6.2.2 Application
Dynamic force control technology can be applied to robot assembly, which can
be applied but not limited to:
a) pin into the hole;
b) assemble the crank;
c) twist the screw.
6.2.3 Application condition requirements
Dynamic force control technology shall meet the following application condition
requirements:
a) emergency stop processing under fault conditions;
b) when collision protection technology is not used, man-machine isolation
fences shall be installed;
c) the maximum mass and size of the clamped workpiece shall be set;
d) the maximum operating speed shall be set to prevent the workpiece from
detaching or falling due to inertia;
e) the assembly accuracy is better than 1% of force/torque sensor measuring
range.
6.3 Constant force control technology
6.3.1 Definition
The end effector of the industrial robot is in the process of operation. Through
the use of force control technology, always maintain a constant output
force/torque.
6.3.2 Application
corners;
c) Variable, lightweight parts with cushioning elements shall be used.
6.5.4.2 Application condition requirements in the case of independent
robot operation
The application condition requirements for the independent operation of the
robot are as follows:
a) it shall have collision detection and emergency braking functions;
b) a smooth contact surface shall be used instead of sharp edges and
corners;
c) fences shall be set outside the working range of the robot.
7 Force control application design method
7.1 General rule
The force control application is designed to select the corresponding force
control strategy according to the operation requirements of different fields, carry
out the analysis and design of the force control application technology, meet its
requirements and realize the system function.
7.2 Design principle
The force control application design method shall take safety as the primary
design principle. The force control application technology selection and design
shall be carried out in a targeted manner.
7.3 Design steps
The design method of force control application is shown in Figure 1. The
description shall include the following:
a) Determine the application (field) of industrial robot products;
b) Determine the working conditions of the robot based on whether there is
physical contact with person;
c) Determine the necessity of force control application;
d) Choose the right force control application technology. Determine
application condition requirements (see Clause 6);
e) Choose the force control strategy to achieve its application (see 4.2), and
......
Source: Above contents are excerpted from the PDF -- translated/reviewed by: www.chinesestandard.net / Wayne Zheng et al.
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