Method and device for testing force control performance of robot system

Abstract

The invention provides a method and a device for testing force control performance of a robot system, and relates to the technical field of robot performance testing. The invention discloses a method for testing force control performance of a robot system. The method comprises the following steps: setting a plurality of test action elements of the robot system; determining a plurality of to-be-tested force control performances corresponding to the plurality of test action elements; and based on the plurality of force control performances to be tested, respectively constructing corresponding test devices to test the robot system. According to the embodiment of the invention, the force-based control performance of the robot or the mechanical arm can be accurately evaluated.

Description

Technical Field

[0001] The present application relates to the technical field of robot performance testing, and in particular to a method and device for testing the force control performance of a robot system. Background Art

[0002] The performance index of a robot or a robotic arm is an index used to evaluate the execution of a robot or a robotic arm system in specific tasks or functions, and can be used to evaluate the performance of the robot or robotic arm system in terms of accuracy, efficiency, speed, reliability, energy consumption, etc. Among them, force control performance is a key index for robots or robotic arms in performing various types of tasks.

[0003] At present, the solutions for robots or manipulator systems to perform force-based manipulation tasks mainly use external force or torque sensors at the end to sense force information, and then perform corresponding control actions based on the sensed force information. These solutions are provided as software packages by robot manufacturers and third-party integrators, and usually have no other performance specifications except for the sensing function.

[0004] At present, collaborative robots use inherent torque sensors at the joint level to solve the force or torque at the center point of the tool. These robots based on joint force sensors can be programmed to complete force-based manufacturing tasks. In terms of industry specifications, the current test standards for robots or manipulators include position, posture, trajectory, and simple compliance tests, and there are no systematic force control performance test methods and standards. Summary of the invention

[0005] According to one aspect of the present application, a method for testing the force control performance of a robot system is provided, comprising: setting a plurality of test action primitives of the robot system; determining a plurality of force control performances to be tested corresponding to the plurality of test action primitives; and constructing corresponding test devices based on the plurality of force control performances to be tested, so as to test the robot system.

[0006] According to some embodiments, the plurality of test action primitives include a grasping action primitive, a carrying action primitive, a touching action primitive, a pressing action primitive, a pushing and pulling action primitive, a plugging and pulling action primitive, a twisting action primitive and / or a throwing action primitive.

[0007] According to some embodiments, multiple force control performances to be tested corresponding to multiple test action primitives are determined, including: determining that the force control performances to be tested corresponding to the grasping action primitives include grasping touch sensitivity and finger strength; determining that the force control performances to be tested corresponding to the carrying action primitives include collaborative motion control; determining that the force control performances to be tested corresponding to the touching action primitives include touch sensitivity and touch strength; determining that the force control performances to be tested corresponding to the pressing action primitives include pressing force control stability, disturbance suppression capability and force / position mixed control; determining that the force control performances to be tested corresponding to the push-pull action primitives include push-pull force control stability and push-pull force tracking; determining that the force control performances to be tested corresponding to the plug-in and pull-out action primitives include plug-in and pull-out force control stability and maximum card resistance; determining that the force control performances to be tested corresponding to the twisting action primitives include twisting force control stability, twisting sensitivity and maximum twisting torque; determining that the force control performances to be tested corresponding to the throwing action primitives include throwing strength.

[0008] According to some embodiments, corresponding test devices are constructed based on multiple force control performances to be tested to test the robot system, including: constructing a first test device based on the force control performances of grip touch sensitivity, finger strength and touch sensitivity; based on the first test device, performing corresponding force control performance tests on the robot system according to preset grip touch sensitivity test rules, preset finger strength test rules and preset touch sensitivity test rules.

[0009] According to some embodiments, corresponding test devices are constructed based on multiple force control performances to be tested to test the robot system, including: constructing a second test device based on the force control performance of collaborative motion control; based on the second test device, performing corresponding force control performance tests on the robot system according to preset collaborative motion control test rules.

[0010] According to some embodiments, corresponding test devices are constructed based on multiple force control performances to be tested to test the robot system, including: constructing a third test device based on the force control performances of touch force and pressing force control stability; based on the third test device, performing corresponding force control performance tests on the robot system according to preset touch force test rules and preset pressing force control stability test rules.

[0011] According to some embodiments, corresponding test devices are constructed based on multiple force control performances to be tested to test the robot system, including: constructing a fourth test device based on the force control performance of disturbance suppression capability; based on the fourth test device, performing corresponding force control performance tests on the robot system according to preset disturbance suppression capability test rules.

[0012] According to some embodiments, corresponding test devices are constructed based on multiple force control performances to be tested to test the robot system, including: constructing a fifth test device based on the force control performance of force / position hybrid control; based on the fifth test device, performing corresponding force control performance tests on the robot system according to preset force / position hybrid control test rules.

[0013] According to some embodiments, corresponding test devices are constructed based on multiple force control performances to be tested to test the robot system, including: constructing a sixth test device based on the force control performances of push-pull force control stability and push-pull force tracking; based on the sixth test device, performing corresponding force control performance tests on the robot system according to preset push-pull force control stability test rules and preset push-pull force tracking test rules.

[0014] According to some embodiments, based on multiple force control performances to be tested, corresponding test devices are respectively constructed to test the robot system, including: constructing a seventh test device based on the force control performance of plugging and unplugging force control stability and maximum card resistance; based on the seventh test device, performing corresponding force control performance tests on the robot system according to preset plugging and unplugging force control stability test rules and preset maximum card resistance test rules.

[0015] According to some embodiments, based on multiple force control performances to be tested, corresponding test devices are respectively constructed to test the robot system, including: constructing an eighth test device based on the force control performances of screwing force control stability, screwing sensitivity and maximum screwing torque; based on the eighth test device, performing corresponding force control performance tests on the robot system according to preset screwing force control stability test rules, preset screwing sensitivity test rules and preset maximum screwing torque test rules.

[0016] According to some embodiments, corresponding test devices are constructed based on multiple force control performances to be tested to test the robot system, including: constructing a ninth test device based on the force control performance of throwing force; based on the ninth test device, performing corresponding force control performance tests on the robot system according to preset throwing force test rules.

[0017] According to one aspect of the present application, a testing device is provided, which is used as the first testing device in the aforementioned method, comprising: a bottom substrate, fixed to the surface of a test bench, the lower surface of the bottom substrate being in contact with the surface of the test bench; a top substrate, arranged opposite to the bottom substrate; a force sensor, fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; a test workpiece, fixedly connected to the upper surface of the top substrate; wherein the test workpiece is a cylindrical structure, and the top of the test workpiece includes a cylindrical buffer module.

[0018] According to one aspect of the present application, a testing device is provided, which is used as the second testing device in the aforementioned method, comprising: a bottom substrate; a top substrate, arranged opposite to the bottom substrate; a force sensor, fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; a first test workpiece, fixedly connected to the upper surface of the top substrate; and a second test workpiece, fixedly connected to the lower surface of the bottom substrate; wherein the first test workpiece and the second test workpiece are cylindrical connecting rods.

[0019] According to one aspect of the present application, a testing device is provided, which is used as the third testing device in the aforementioned method, including: a bottom substrate, fixed to the surface of the test bench, the lower surface of the bottom substrate is in contact with the surface of the test bench; a top substrate, arranged opposite to the bottom substrate; a force sensor, fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; a test workpiece, fixedly connected to the upper surface of the top substrate; wherein the test workpiece is an octagonal prism structure.

[0020] According to one aspect of the present application, a testing device is provided, which is used as the fourth testing device in the aforementioned method, comprising: a bottom substrate, fixed to the surface of a test bench, the lower surface of the bottom substrate being in contact with the surface of the test bench; a top substrate, arranged opposite to the bottom substrate; a force sensor, fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; a test workpiece, fixedly connected to the upper surface of the top substrate; wherein the test workpiece is an irregularly shaped structure, and the test workpiece includes multiple faces at different angles.

[0021] According to one aspect of the present application, a testing device is provided, which is used as the fifth testing device in the aforementioned method, including: a bottom substrate, fixed to the surface of a test bench, the lower surface of the bottom substrate being in contact with the surface of the test bench; a top substrate, arranged opposite to the bottom substrate; a force sensor, fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; a test workpiece, fixedly connected to the upper surface of the top substrate; wherein the test workpiece is a disc structure, and the test workpiece is made of a plurality of different materials, and the plurality of different materials are correspondingly distributed in a plurality of areas of the test workpiece.

[0022] According to one aspect of the present application, a testing device is provided, which is used as the sixth testing device in the aforementioned method, including: a bottom substrate, fixed to the surface of the test bench, the lower surface of the bottom substrate is in contact with the surface of the test bench; a top substrate, arranged opposite to the bottom substrate; a force sensor, fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; a test workpiece, fixedly connected to the upper surface of the top substrate; wherein the test workpiece includes: a spring, the bottom of which is fixedly connected to the upper surface of the top substrate; a connecting member, the bottom of which is fixedly connected to the spring; and a hook, detachably connected to the top of the connecting member.

[0023] According to one aspect of the present application, a testing device is provided, which is used as the seventh testing device in the aforementioned method, including: a bottom substrate, fixed to the surface of the test bench, the lower surface of the bottom substrate is in contact with the surface of the test bench; a top substrate, arranged opposite to the bottom substrate; a force sensor, fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; a test workpiece, fixedly connected to the upper surface of the top substrate; wherein the test workpiece includes: a disc structure with a hole at the center; or a plurality of gears; or a snap-on structure.

[0024] According to one aspect of the present application, a testing device is provided, which is used as the eighth testing device in the aforementioned method, including: a bottom substrate, fixed to the surface of the test bench, the lower surface of the bottom substrate is in contact with the surface of the test bench; a top substrate, arranged opposite to the bottom substrate; a force sensor, fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; a test workpiece, fixedly connected to the upper surface of the top substrate; wherein the test workpiece includes: a spring, the bottom of which is fixedly connected to the upper surface of the top substrate; a connecting member, comprising a plurality of holes, the bottom of which is fixedly connected to the spring; a connecting rod, connected to the connecting member through a plurality of holes; and a bolt, connected to the connecting member through a hole at the top of the connecting member.

[0025] According to one aspect of the present application, a testing device is provided, which is used as the ninth testing device in the aforementioned method, including: a bottom substrate, fixed to the surface of the test bench, the lower surface of the bottom substrate is in contact with the surface of the test bench; a top substrate, arranged opposite to the bottom substrate; a force sensor, fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; a test workpiece, fixedly connected to the upper surface of the top substrate; wherein the test workpiece includes: a supporting spring, one end of which is fixedly connected to the top substrate; and a load-bearing test plate, fixedly connected to the other end of the supporting spring.

[0026] According to the embodiments of the present application, the force control capability of robots with different perception and control schemes can be tested and measured through independent external sensor measurement systems, adaptation mechanisms and algorithms to promote the credibility, unbiasedness and cross-system uniform comparability of the evaluation system. In addition, the technical solution of the present application uses high-precision six-dimensional force sensors and modular test workpieces to independently measure the performance of the robot, with high test accuracy, comprehensive test force directions and types, etc.

[0027] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application.

[0029] Figure 1 A flow chart showing a method for testing the force control performance of a robot system according to an exemplary embodiment of the present application.

[0030] Figure 2 A schematic diagram of a first testing device according to an exemplary embodiment of the present application is shown.

[0031] Figure 3 A schematic diagram showing a second testing device according to an exemplary embodiment of the present application is shown.

[0032] Figure 4 A schematic diagram showing a third testing device according to an exemplary embodiment of the present application is shown.

[0033] Figure 5 A schematic diagram showing a fourth testing device according to an exemplary embodiment of the present application is shown.

[0034] Figure 6 A schematic diagram of a fifth testing device according to an exemplary embodiment of the present application is shown.

[0035] Figure 7 A schematic diagram of a sixth testing device according to an exemplary embodiment of the present application is shown.

[0036] Figure 8 A schematic diagram of a seventh testing device according to an exemplary embodiment of the present application is shown.

[0037] Fig. 9 A schematic diagram of an eighth testing device according to an exemplary embodiment of the present application is shown.

[0038] Fig.10 A schematic diagram of a ninth testing device according to an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0039] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0040] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application may be put into practice without one or more of these specific details, or other modes, components, materials, devices or operations may be adopted. In these cases, known structures, methods, devices, realizations, materials or operations will not be shown or described in detail.

[0041] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0042] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0043] The present application provides a method and device for testing the force control performance of a robot system, which are capable of testing and measuring the force control capability of robots with different perception and control schemes.

[0044] A method and device for testing the force control performance of a robot system according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0045] Figure 1 A flow chart showing a method for testing the force control performance of a robot system according to an exemplary embodiment of the present application.

[0046] like Figure 1 As shown, in step S1000, a plurality of test action primitives of the robot system are set.

[0047] After analyzing the motion actions of the robot system, the test task of the robot system is simplified into multiple test action primitives.

[0048] According to some embodiments, the plurality of test action primitives include a grasping action primitive, a carrying action primitive, a touching action primitive, a pressing action primitive, a pushing and pulling action primitive, a plugging and pulling action primitive, a twisting action primitive and / or a throwing action primitive.

[0049] Among them, the test of grasping action primitives is a test for the robot arm.

[0050] The test of the handling action primitive is a test for the dual-arm robot system.

[0051] The test of the touch action primitive is a test for the manipulator / arm.

[0052] The test of the pressing action primitive is a test of the pressing force control performance of the robot arm.

[0053] The test of push-pull action primitives is aimed at testing the push-pull force control performance and push-pull motion control performance of the robot arm.

[0054] The test of the plugging and unplugging action primitive is a test of the plugging and unplugging force control performance and motion control performance of the robot arm.

[0055] The test of the screwing action primitive is aimed at testing the screwing force control performance and motion control performance of the robot arm.

[0056] The test of throwing action primitive is to test the throwing motion control performance of the robot arm.

[0057] In step S2000, a plurality of force control properties to be tested corresponding to a plurality of test action primitives are determined.

[0058] After a plurality of test action primitives are determined, the force control performance existing in each of the test action primitives is analyzed to determine the force control performance to be tested.

[0059] According to some embodiments, the force control performance to be tested corresponding to the grasping action primitive includes grasping touch sensitivity and finger strength.

[0060] Among them, touch sensitivity is a dynamic measurement of the minimum contact force exerted by a robot finger on an object, which affects fine interactive operations and the ability to detect small force disturbances. Factors affecting touch sensitivity include hand sensors, motion controllers, bandwidth, joint speed, finger size, and finger configuration.

[0061] Finger strength is a dynamic measure of the maximum force exerted by a robot finger on the environment, affecting the overall strength of the robot when grasping or manipulating. Finger strength is measured on a single finger basis. Factors that affect finger strength include hand actuator capabilities, motion controllers, mechanical design, and finger configuration.

[0062] According to some embodiments, the force control performance to be tested corresponding to the handling action primitive includes collaborative motion control.

[0063] Among them, collaborative motion control is the dynamic measurement of the force exerted by the robot's two arms on an object, which will generate information about the internal force of the object when the two arms carry the object, reflecting the robot's two-arm coordination ability during the handling process. Factors that affect the joint force control characteristics include single-arm motion controller, dual-arm motion controller, bandwidth, handling configuration, and object size.

[0064] According to some embodiments, the force control performance to be tested corresponding to the touch action primitive includes touch sensitivity and touch force.

[0065] Among them, touch sensitivity is a dynamic measurement of the minimum contact force applied by a robot finger or end of a robotic arm on an object, which affects fine interactive operations and the ability to detect small force disturbances. Factors that affect touch sensitivity include force sensors, motion controllers, bandwidth, motion speed, and finger / end configuration.

[0066] Touch force is a dynamic measure of the maximum force exerted by the robot finger / end of the robot arm on the environment, affecting the overall force of the robot finger / end of the robot arm during touch operation. Factors affecting touch force include actuator capabilities, motion controller, mechanical design, and finger configuration.

[0067] According to some embodiments, the force control performance to be tested corresponding to the pressing action primitive includes pressing force control stability, disturbance suppression capability, and force / position hybrid control.

[0068] Among them, the pressure control stability refers to the measurement of the settling time, overshoot and steady-state error when the robot arm contacts the target surface, reflecting the ability of the controller to detect and maintain contact with the object. Factors that affect the pressure control stability include force sensors, motion controllers, bandwidth, motion speed, etc.

[0069] The disturbance suppression capability is the deviation between the actual contact force and the expected contact force when the end of the robot moves along the surface contour. Within a certain range of operating speeds, it can reflect the robot's ability to perform continuous pressing. Factors that affect the disturbance suppression capability include force sensors, motion controllers, bandwidth, motion speed, etc.

[0070] Force / position hybrid control is a dynamic measurement of the force exerted by the end of the robot on the environment while it is moving, which comprehensively reflects the motion control performance and force control performance of the robot. Factors affecting force / position hybrid control include actuator capabilities, motion controllers, mechanical design, motion speed, and contact environment.

[0071] According to some embodiments, the force control performance to be tested corresponding to the push-pull action primitives includes push-pull force control stability and push-pull force tracking.

[0072] Among them, push-pull force control stability refers to the measurement of the settling time, overshoot and steady-state error when the robot arm contacts the target surface, reflecting the controller's ability to detect and maintain contact with the object. Factors that affect push-pull force control stability include force sensors, motion controllers, bandwidth, motion speed and test objects.

[0073] Push-pull force tracking refers to the characteristic of tracking the expected force when the robot arm contacts the target surface, reflecting the ability of the controller to detect and maintain contact with the object. Factors that affect the stability of robot control include force sensors, motion controllers, bandwidth, motion speed, test objects, and contact environment.

[0074] According to some embodiments, the force control performance to be tested corresponding to the plugging and unplugging action primitive includes plugging and unplugging force control stability and maximum card resistance.

[0075] Among them, the plug-in force control stability refers to the measurement of the settling time, overshoot and steady-state error when the robot arm contacts the surface of the target object. It reflects the ability of the controller to detect and control the contact with the object and characterizes the compliant control characteristics of the robot arm. Factors affecting the plug-in force control stability include force sensors, motion controllers, bandwidth, motion speed and operation objects.

[0076] The maximum sticking resistance refers to the maximum contact force when the robot arm is stuck during the plug-in and pull-out assembly process. It reflects the controller's ability to detect the stuck state and control the contact force, and characterizes the compliant control characteristics of the robot arm. Factors that affect the maximum sticking resistance include force sensors, motion controllers, bandwidth, motion speed, operating objects, and gap ratios.

[0077] According to some embodiments, the force control performance to be tested corresponding to the screwing action primitive includes screwing force control stability, screwing sensitivity and maximum screwing torque.

[0078] Among them, the twisting force control stability refers to the measurement of the settling time, overshoot and steady-state error when the robot arm contacts the surface of the target object, which reflects the ability of the controller to detect and control the contact with the object and characterizes the compliant control characteristics of the robot arm. Factors affecting the twisting force control stability include force sensors, motion controllers, bandwidth, motion speed and operation objects.

[0079] Twist sensitivity is a dynamic measurement of the minimum twist torque applied by the end of the robot arm to an object, which affects the twist interaction and the ability to detect small torque disturbances. Factors that affect twist sensitivity include sensors, motion controllers, bandwidth, joint speed, and object configuration.

[0080] The maximum torque is a dynamic measure of the maximum torque applied by the end of the robot to the environment, affecting the overall force of the robot when performing a screwing operation. Factors affecting the maximum torque include force sensors, motion controllers, bandwidth, motion speed, and the object of operation.

[0081] According to some embodiments, the force control performance to be tested corresponding to the throwing action primitive includes throwing force.

[0082] Throwing force refers to the maximum force capability of the robot arm when throwing a standard test workpiece in a normal way under windless conditions, reflecting the maximum throwing power and the control performance of the controller. Factors affecting the throwing force include motion controller, bandwidth, operation object and environmental factors.

[0083] In step S3000, corresponding test devices are constructed based on multiple force control performances to be tested to test the robot system.

[0084] After determining a plurality of force control properties to be tested, different test devices are constructed according to different force control properties to be tested, so as to test the corresponding force control properties of the robot system.

[0085] According to some embodiments, a first testing device is constructed based on force control performance of grip touch sensitivity, finger strength, and touch sensitivity.

[0086] Furthermore, based on the first testing device, the force control performance of the robot system's grasping touch sensitivity is tested according to the preset grasping touch sensitivity test rules, the force control performance of the robot system's finger strength is tested according to the preset finger strength test rules, and the force control performance of the robot system's touch sensitivity is tested according to the preset touch sensitivity test rules.

[0087] According to some embodiments, a second test apparatus is constructed based on the force control performance of collaborative motion control.

[0088] Furthermore, based on the second testing device, the force control performance of the collaborative motion control of the robot system is tested according to preset collaborative motion control testing rules.

[0089] According to some embodiments, a third testing device is constructed based on the force control performance of the touch force and the pressing force control stability.

[0090] Furthermore, based on the third testing device, the force control performance of the touch force of the robot system is tested according to the preset touch force testing rules, and the force control performance of the pressing force controlled stability of the robot system is tested according to the preset pressing force controlled stability testing rules.

[0091] According to some embodiments, a fourth test apparatus is constructed based on the force control performance of the disturbance suppression capability.

[0092] Furthermore, based on the fourth testing device, the force control performance of the disturbance suppression capability of the robot system is tested according to the preset disturbance suppression capability testing rules.

[0093] According to some embodiments, a fifth test apparatus is constructed based on the force control performance of force / position hybrid control.

[0094] Furthermore, based on the fifth testing device, the force control performance of the force / position hybrid control of the robot system is tested according to the preset force / position hybrid control testing rules.

[0095] According to some embodiments, a sixth testing device is constructed based on the force control performance of push-pull force control stability and push-pull force tracking.

[0096] Furthermore, based on the sixth testing device, the force control performance of the push-pull force control stability of the robot system is tested according to the preset push-pull force control stability test rules, and the force control performance of the push-pull force tracking of the robot system is tested according to the preset push-pull force tracking test rules.

[0097] According to some embodiments, a seventh test device is constructed based on the force control performance of the insertion and extraction force control stability and the maximum card resistance.

[0098] Furthermore, based on the seventh testing device, the force control performance of the robot system's plugging and unplugging force control stability is tested according to the preset plugging and unplugging force control stability test rules, and the force control performance of the robot system's maximum plugging resistance is tested according to the preset maximum plugging resistance test rules.

[0099] According to some embodiments, an eighth testing device is constructed based on the force control performance of screwing force control stability, screwing sensitivity, and maximum screwing torque.

[0100] Furthermore, based on the eighth testing device, the force control performance of the robot system's screwing force control stability is tested according to the preset screwing force control stability test rules, the force control performance of the robot system's screwing sensitivity is tested according to the preset screwing sensitivity test rules, and the force control performance of the robot system's maximum screwing torque is tested according to the preset maximum screwing torque test rules.

[0101] According to some embodiments, a ninth testing device is constructed based on the force control performance of throwing force.

[0102] Furthermore, based on the ninth testing device, the force control performance of the throwing force of the robot system is tested according to the preset throwing force testing rules.

[0103] According to the embodiments of the present application, the force control performance of robots with different perception and control schemes can be tested and measured through independent external sensing measurement systems, adaptation mechanisms and algorithms. The test accuracy is high and the directions and types of test forces are comprehensive.

[0104] Figure 2 A schematic diagram of a first testing device according to an exemplary embodiment of the present application is shown.

[0105] like Figure 2 As shown, the first test device 10 includes a bottom substrate 110 , a top substrate 120 , a force sensor 130 , and a test workpiece 140 .

[0106] The bottom substrate 110 is fixed on the surface of the test bench, wherein the lower surface of the bottom substrate 110 is in contact with the surface of the test bench.

[0107] The top substrate 120 is disposed opposite to the bottom substrate 110 .

[0108] The force sensor 130 is fixed between the upper surface of the bottom substrate 110 and the lower surface of the top substrate 120 .

[0109] According to some embodiments, the force sensor 130 may be a six-dimensional force sensor.

[0110] The test workpiece 140 is fixedly connected to the upper surface of the top substrate 120 .

[0111] According to some embodiments, the test workpiece 140 may be a cylindrical structure, and the top of the test workpiece 140 may include a cylindrical buffer module 141 .

[0112] The first testing device 10 also includes a data processing module ( Figure 2 ), for collecting and analyzing test data.

[0113] According to some embodiments, the gripping touch sensitivity of the robot system may be tested by the first testing device 10 according to a preset gripping touch sensitivity test rule. The preset gripping touch sensitivity test rule includes the following steps: S10 , the robot finger approaches the test workpiece 140 at a preset joint speed.

[0114] S11, when the robot finger is fully extended, it stops moving after contacting the contact surface of the buffer module 141. At this time, the Cartesian speed of the robot finger tip is the largest, and the maximum impact force will be generated when colliding.

[0115] S12, recording the force test data through the data processing module.

[0116] S13, repeating steps S10 to S12 10 times in a loop, and calculating the average value and 95% confidence interval of the maximum contact force through the data processing module.

[0117] S14, setting different closing speeds of the robot finger, i.e., 10%, 50% and 100% of the maximum speed of the robot finger, repeating steps S10 to S13, and evaluating the different touch sensitivities of the robot finger at different speeds through the data processing module.

[0118] According to some embodiments, the finger strength of the robot system may be tested by the first testing device 10 according to a preset finger strength test rule. The preset finger strength test rule includes the following steps: S20 , fully extending the robot finger, placing the robot finger directly above the force sensor 130 and calibrating the zero force reading of the force sensor 130 .

[0119] S21, in the position control mode, the robot fingers are completely closed to cause control saturation.

[0120] S22 , recording the data of the force sensor 130 through the data processing module, and extracting the contact force between the robot finger and the test workpiece 140 from the quasi-static (stable) force region.

[0121] S23, repeating steps S20 to S22 10 times in a loop, calculating the maximum fingertip force through the data processing module, and calculating the average value and 95% confidence interval to estimate the finger strength of the robot.

[0122] According to some embodiments, the touch sensitivity of the robot system may be tested by the first testing device 10 according to a preset touch sensitivity test rule. The preset touch sensitivity test rule includes the following steps: S30, the robot finger / arm end approaches the test workpiece 140 at a preset speed in the X-axis direction.

[0123] S31, when the end of the robot finger / arm contacts the contact surface of the buffer module 141, the robot stops moving, and the force data is recorded by the data processing module to extract the contact force peak value.

[0124] S32, repeat steps S30 to S31 10 times in a loop, and calculate the average value and 95% confidence interval of the maximum contact force.

[0125] S33, setting different touch speeds of the robot finger / arm end, i.e., 10%, 50% and 100% of the maximum speed of the robot finger / arm end, repeating steps S30 to S32, and evaluating the different touch sensitivities of the robot finger / arm end at different speeds through the data processing module.

[0126] S34, repeating steps S30 to S33 in the Y-axis direction and the Z-axis direction respectively, to test the touch sensitivity of the robot finger / end of the robotic arm in different directions.

[0127] Figure 3 A schematic diagram showing a second testing device according to an exemplary embodiment of the present application is shown.

[0128] like Figure 3 As shown, the second test device 20 includes a bottom substrate 210 , a top substrate 220 , a force sensor 230 , a first test workpiece 240 , and a second test workpiece 250 .

[0129] The top substrate 220 is disposed opposite to the bottom substrate 210 .

[0130] The force sensor 230 is fixed between the upper surface of the bottom substrate 210 and the lower surface of the top substrate 220 .

[0131] According to some embodiments, the force sensor 230 may be a six-dimensional force sensor.

[0132] The first test workpiece 240 is fixedly connected to the upper surface of the top substrate 220 .

[0133] The second test workpiece 250 is fixedly connected to the lower surface of the base substrate 210 .

[0134] According to some embodiments, the first test workpiece 240 and the second test workpiece 250 may be cylindrical connecting rods.

[0135] The second testing device 20 also includes a data processing module ( Figure 3 ), for collecting and analyzing test data.

[0136] According to some embodiments, the collaborative motion control performance of the robot system may be tested by the second testing device 20 according to a preset collaborative motion control test rule. The preset collaborative motion control test rule includes the following steps: S40, the robot's two arms cooperate to grab the first test workpiece 240 and the second test workpiece 250 respectively, perform horizontal lateral transport motion according to the expected motion trajectory, and calculate the quasi-static force and torque through the data processing module.

[0137] S41, the robot's two arms cooperate to grab the first test workpiece 240 and the second test workpiece 250 respectively, perform horizontal and longitudinal transport motion according to the expected motion trajectory, and calculate the quasi-static force and torque through the data processing module.

[0138] S42, the robot's two arms cooperate to grab the first test workpiece 240 and the second test workpiece 250 respectively, perform vertical handling motion according to the expected motion trajectory, and calculate the quasi-static force and torque through the data processing module.

[0139] S43, repeating steps S40 to S42 10 times in a loop, and calculating the mean and 95% confidence interval of the quasi-static force and moment through the data processing module.

[0140] S44, repeatedly performing steps S40 to S43 on the first test workpiece 240 and the second test workpiece 250 of different diameters to obtain the transport cooperative motion control performance of the test workpieces of different sizes.

[0141] S45, the collaborative motion control performance of the robot is determined by calculating the 𝐿2 norm of the mean of the static force and torque in three directions, the two lower bounds and the two upper bounds of the confidence interval through the data processing module.

[0142] Figure 4 A schematic diagram showing a third testing device according to an exemplary embodiment of the present application is shown.

[0143] like Figure 4As shown, the third testing device 30 includes a bottom substrate 310 , a top substrate 320 , a force sensor 330 , and a test workpiece 340 .

[0144] The bottom substrate 310 is fixed to the surface of the test bench, wherein the lower surface of the bottom substrate 310 is in contact with the surface of the test bench.

[0145] The top substrate 320 is disposed opposite to the bottom substrate 310 .

[0146] The force sensor 330 is fixed between the upper surface of the bottom substrate 310 and the lower surface of the top substrate 320 .

[0147] According to some embodiments, the force sensor 330 may be a six-dimensional force sensor.

[0148] The test workpiece 340 is fixedly connected to the upper surface of the top substrate 320 .

[0149] According to some embodiments, the test workpiece 340 may be an octagonal prism structure.

[0150] The third testing device 30 also includes a data processing module ( Figure 4 ), for collecting and analyzing test data.

[0151] According to some embodiments, the touch force of the robot system may be tested by the third testing device 30 according to a preset touch force testing rule. The preset touch force testing rule includes the following steps: S50 , fully extend the robot finger, place the robot finger / arm end directly above the force sensor 330 along the X-axis direction, and calibrate the zero force reading of the force sensor 330 .

[0152] S51, in the position control mode, the robot fingers are completely closed, or the end of the robot arm continues to move 5 mm along the current axis to cause control saturation.

[0153] S52, recording the test data of the force sensor 330 through the data processing module.

[0154] S53, repeating steps S50 to S52 10 times in a loop, and extracting the contact force between the robot finger / arm end and the test workpiece 340 in the quasi-static force area through the data processing module.

[0155] S54, obtaining the maximum fingertip force through the data processing module, and calculating the average value and 95% confidence interval to estimate the touch force of the robot finger / end of the robotic arm.

[0156] S55, repeating steps S50 to S54 in the Y-axis direction and the Z-axis direction respectively, to test the touch force of the robot finger / end of the robotic arm in different directions.

[0157] According to some embodiments, the pressing force control stability of the robot system may be tested by the third testing device 30 according to a preset pressing force control stability test rule. The preset pressing force control stability test rule includes the following steps: S60 , sequentially inputting a desired step force Fd in a direction of motion perpendicular to each surface of the test workpiece 340 , so that the robot arm maintains an appropriate force when contacting the surface of the test workpiece 340 .

[0158] S61, initially the robot is in a non-contact state. After the robot contacts the contact surface of the test workpiece 340, it moves along the direction of the contact surface and applies a normal force to the contact surface.

[0159] S62, setting the minimum force Fdmin that can cause an effective robot response, and performing a test.

[0160] S63, setting the expected force to the maximum value Fdmax within the effective load capacity range, and performing the test.

[0161] S64, setting the expected force to an intermediate value Fdmid between the minimum and maximum test forces, and performing the test.

[0162] S65, recording the test force data collected by the force sensor 330 through the data processing module, and repeating the test 10 times for the pressing force control stability in each test direction for evaluation.

[0163] S66, calculating the average value, stabilization time, steady-state error and 95% confidence interval of the contact force peak value through the data processing module, and calculating the peak overshoot, stabilization time and steady-state error.

[0164] Figure 5 A schematic diagram showing a fourth testing device according to an exemplary embodiment of the present application is shown.

[0165] like Figure 5 As shown, the fourth testing device 40 includes a bottom substrate 410 , a top substrate 420 , a force sensor 430 , and a test workpiece 440 .

[0166] The bottom substrate 410 is fixed to the surface of the test bench, wherein the lower surface of the bottom substrate 410 is in contact with the surface of the test bench.

[0167] The top substrate 420 is disposed opposite to the bottom substrate 410 .

[0168] The force sensor 430 is fixed between the upper surface of the bottom substrate 410 and the lower surface of the top substrate 420 .

[0169] According to some embodiments, the force sensor 430 may be a six-dimensional force sensor.

[0170] The test workpiece 440 is fixedly connected to the upper surface of the top substrate 420 .

[0171] According to some embodiments, the test workpiece 440 may be an irregularly shaped structure and include a plurality of surfaces at different angles.

[0172] In the embodiment of the present application, the test workpiece 440 includes 12 surfaces at different angles.

[0173] The fourth testing device 40 further includes a data processing module ( Figure 5 ), for collecting and analyzing test data.

[0174] According to some embodiments, the disturbance suppression capability of the robot system may be tested by the fourth testing device 40 according to a preset disturbance suppression capability test rule. The preset disturbance suppression capability test rule includes the following steps: S70 , causing the end of the robot to perform linear spatial motion along a designated segment on the angled plane of the test workpiece 440 .

[0175] S71, initially the robot is in a non-contact state. After the robot contacts the contact surface of the test workpiece 440, it moves along a set direction at a preset speed and applies a normal force to the contact surface.

[0176] S72, setting the minimum force Fdmin that can cause an effective robot response, and performing a test.

[0177] S73, setting the expected force to the maximum value Fdmax within the effective load capacity range, and performing the test.

[0178] S74, setting the expected force to an intermediate value Fdmid between the minimum and maximum test forces, and performing the test.

[0179] S75, recording the force data of the force sensor 430 through the data processing module, and repeating the test 10 times for the movement in each test direction for evaluation.

[0180] S76, calculating the average contact force, stabilization time, steady-state error and 95% confidence interval between the robot and the test workpiece 440 through the data processing module, and calculating the peak overshoot, stabilization time and steady-state error.

[0181] S77, modify the movement speed to 10%, 50%, and 100% of the maximum speed of the robot arm, and repeat steps S70 to S76 to test the robot arm's ability to suppress disturbances at different speeds.

[0182] Figure 6 A schematic diagram of a fifth testing device according to an exemplary embodiment of the present application is shown.

[0183] like Figure 6 As shown, the fifth testing device 50 includes a bottom substrate 510 , a top substrate 520 , a force sensor 530 , and a test workpiece 540 .

[0184] The bottom substrate 510 is fixed to the surface of the test bench, wherein the lower surface of the bottom substrate 510 is in contact with the surface of the test bench.

[0185] The top substrate 520 is disposed opposite to the bottom substrate 510 .

[0186] The force sensor 530 is fixed between the upper surface of the bottom substrate 510 and the lower surface of the top substrate 520 .

[0187] According to some embodiments, the force sensor 530 may be a six-dimensional force sensor.

[0188] The test workpiece 540 is fixedly connected to the upper surface of the top substrate 520 .

[0189] According to some embodiments, the test workpiece 540 may be a disk structure, and the test workpiece 540 is made of a plurality of different materials, and the plurality of different materials are correspondingly distributed in a plurality of regions of the test workpiece.

[0190] In the embodiment of the present application, the test workpiece 540 is made of three different materials, and the three different materials are correspondingly distributed in three regions of the test workpiece, namely, a first material region 541 , a second material region 542 , and a third material region 543 .

[0191] The fifth testing device 50 also includes a data processing module and a laser tracker (both in Figure 6 (not shown in the figure) for collecting and analyzing test data.

[0192] According to some embodiments, the force / position hybrid control performance of the robot system may be tested by the fifth testing device 50 according to a preset force / position hybrid control test rule. The preset force / position hybrid control test rule includes the following steps: S80, setting the expected contact force and the movement speed of the end of the robot arm.

[0193] S81 , making the end of the robot arm approach the test workpiece 540 along the Z-axis direction until it contacts the test workpiece 540 .

[0194] S82, the end of the robot arm maintains contact with the test workpiece 540, and maintains the contact force according to the set value of the desired contact force.

[0195] S83, the end of the robot arm moves in the areas corresponding to the three different materials of the test workpiece 540 according to the expected motion trajectory, and at the same time obtains the trajectory information and force information recorded by the laser tracker and the force sensor 530 through the data processing module.

[0196] S84, the robot arm cyclically repeats the motion trajectory of steps S80 to S83 10 times.

[0197] S85, calculating the motion trajectory error and the contact force error through the data processing module, and calculating the average value and the 95% confidence interval to estimate the touch force of the robot arm.

[0198] S86, respectively set the movement speed to 10%, 50% and 100% of the rated speed of the robot arm, and repeat steps S80 to S85 to test the force / position hybrid control performance of the robot arm at different speeds.

[0199] Figure 7 A schematic diagram of a sixth testing device according to an exemplary embodiment of the present application is shown.

[0200] like Figure 7 As shown, the sixth test device 60 includes a bottom substrate 610 , a top substrate 620 , a force sensor 630 , and a test workpiece 640 .

[0201] The bottom substrate 610 is fixed to the surface of the test bench, wherein the lower surface of the bottom substrate 610 is in contact with the surface of the test bench.

[0202] The top substrate 620 is disposed opposite to the bottom substrate 610 .

[0203] The force sensor 630 is fixed between the upper surface of the bottom substrate 610 and the lower surface of the top substrate 620 .

[0204] According to some embodiments, the force sensor 630 may be a six-dimensional force sensor.

[0205] The test workpiece 640 is fixedly connected to the upper surface of the top substrate 620 .

[0206] According to some embodiments, the test workpiece 640 includes a spring 641 , a connector 642 , and a hook 643 .

[0207] According to some embodiments, the bottom of the spring 641 is fixedly connected to the upper surface of the top substrate 620, the connector 642 is fixedly connected to the spring 641, and the hook 643 is connected to the top of the connector 642 and is detachable.

[0208] According to some embodiments, when the hook 643 is connected to the top of the connector 642 , the test workpiece 640 can be used to test the force control performance of the pulling part in the force control performance tests of push-pull force control stability and push-pull force tracking.

[0209] According to some embodiments, when the hook 643 is not connected to the top of the connector 642 (i.e., the hook 643 has been removed), the test workpiece 640 can be used to test the force control performance of the thrust part in the force control performance tests of push-pull force control stability and push-pull force tracking.

[0210] The sixth testing device 60 further includes a data processing module ( Figure 7 ), for collecting and analyzing test data.

[0211] According to some embodiments, the push-pull force control stability of the robot system may be tested by the sixth testing device 60 according to the preset push-pull force control stability test rule. The preset push-pull force control stability test rule includes the following steps: S90 , causing the end of the robot to perform a linear push / pull motion on the test workpiece 640 along the normal direction of the test workpiece 640 .

[0212] S91, initially the robot is in a non-contact state, and after the robot pushes / pull the test workpiece 640, it continues to push / pull until the desired force is reached.

[0213] S92, set the minimum force Fdmin that can cause an effective robot response and perform the test.

[0214] S93, setting the expected force to the maximum value Fdmax within the effective load capacity range, and performing the test.

[0215] S94, setting the expected force to an intermediate value Fdmid between the minimum and maximum test forces, and performing the test.

[0216] S95, recording the force data of the force sensor 630 through the data processing module, and repeating steps S90 to S94 10 times for the push / pull force control stability of the robot in each test direction (i.e., X-axis, Y-axis, and Z-axis directions) for evaluation.

[0217] S96, replace the test workpiece 640 with different elasticity and specifications, and repeat steps S90 to S95.

[0218] S97, calculate the average value, stabilization time, steady-state error and 95% confidence interval of the contact force peak through the data processing module, and calculate the peak overshoot, stabilization time and steady-state error.

[0219] According to some embodiments, the push-pull force tracking performance of the robot system may be tested by the sixth testing device 60 according to the preset push-pull force tracking test rule. The preset push-pull force tracking test rule includes the following steps: S100 , causing the end of the robot to perform a linear push / pull motion on the test workpiece 640 along a preset direction.

[0220] S101, initially the robot is in a non-contact state, and after the robot pushes / pull the test workpiece 640, it continues to push / pull until a desired force is reached.

[0221] S102, the robot end tracks the expected force according to the expected force trajectory.

[0222] S103, recording the force data of the force sensor 630 through the data processing module, and repeating steps S100 to S102 10 times for the tracking performance of the push / pull force of the robot in each test direction (i.e., X-axis, Y-axis, and Z-axis) for evaluation.

[0223] S104, replacing the test workpiece 640 with different elasticity and specifications, and repeating steps S100 to S103.

[0224] S105, calculating the average value, stabilization time and 95% confidence interval of the contact force error through the data processing module.

[0225] Figure 8 A schematic diagram of a seventh testing device according to an exemplary embodiment of the present application is shown.

[0226] like Figure 8 As shown, the seventh testing device 70 includes a bottom substrate 710 , a top substrate 720 , a force sensor 730 , and a test workpiece 740 .

[0227] The bottom substrate 710 is fixed to the surface of the test bench, wherein the lower surface of the bottom substrate 710 is in contact with the surface of the test bench.

[0228] The top substrate 720 is disposed opposite to the bottom substrate 710 .

[0229] The force sensor 730 is fixed between the upper surface of the bottom substrate 710 and the lower surface of the top substrate 720 .

[0230] According to some embodiments, the force sensor 730 may be a six-dimensional force sensor.

[0231] The test workpiece 740 is fixedly connected to the upper surface of the top substrate 720 .

[0232] According to some embodiments, the test workpiece 740 may be a disc structure with a hole at the center thereof, wherein the shape of the hole at the center of the test tool 740 may be set according to the cross-sectional shape of the connecting rod at the end of the robot to be tested, such as a circular hole or a square hole.

[0233] According to some embodiments, the test workpiece 740 may also be a plurality of gears arranged horizontally, so as to perform plugging and unplugging operations such as gear insertion and meshing at the end of the robot.

[0234] According to some embodiments, the test workpiece 740 may also be a horizontally arranged snap-fit ​​structure for performing plugging and unplugging operations such as snap-fit ​​rings at the end of the robot.

[0235] The seventh testing device 70 further includes a data processing module ( Figure 8 ), for collecting and analyzing test data.

[0236] According to some embodiments, the plugging and unplugging force control stability of the robot system may be tested by the seventh testing device 70 according to the preset plugging and unplugging force control stability test rule. The preset plugging and unplugging force control stability test rule includes the following steps: S110 , the robot performs the action of inserting and removing the connecting rod into the hole of the test workpiece 740 .

[0237] S111, recording the force data measured by the force sensor 730 through the data processing module, and repeating the test 10 times according to step S110.

[0238] S112, calculating the average value, stabilization time, steady-state error and 95% confidence interval of the contact force peak value through the data processing module, and calculating the peak overshoot, stabilization time and steady-state error.

[0239] S113, repeat the robot's plugging and unplugging operations such as snap ring, gear insertion and meshing according to steps S110 to S112, and record the test data and analyze related characteristics through the data processing module.

[0240] According to some embodiments, the maximum card resistance performance of the robot system may be tested by the seventh testing device 70 according to a preset maximum card resistance test rule. The preset maximum card resistance test rule includes the following steps: S120, makes the test workpiece 740 perform the robot's connecting rod entry hole assembly action in a stuck posture with a preset tilt angle. If the contact force exceeds the set maximum threshold Fmax, the action is stopped, and the data of the force sensor 730 during the operation is recorded through the data processing module, and the maximum contact force is extracted.

[0241] S121, repeat the test 10 times according to step S120.

[0242] S122, calculating the average value, stabilization time, steady-state error and 95% confidence interval of the contact force peak value through the data processing module, and calculating the peak overshoot, stabilization time and steady-state error.

[0243] S123, repeating the gear insertion and meshing operations according to steps S120 to S122, and recording the test data and analyzing the relevant characteristics through the data processing module.

[0244] Fig. 9A schematic diagram of an eighth testing device according to an exemplary embodiment of the present application is shown.

[0245] like Fig. 9 As shown, the eighth testing device 80 includes a bottom substrate 810 , a top substrate 820 , a force sensor 830 , and a test workpiece 840 .

[0246] The bottom substrate 810 is fixed to the surface of the test bench, wherein the lower surface of the bottom substrate 810 is in contact with the surface of the test bench.

[0247] The top substrate 820 is disposed opposite to the bottom substrate 810 .

[0248] The force sensor 830 is fixed between the upper surface of the bottom substrate 810 and the lower surface of the top substrate 820 .

[0249] According to some embodiments, the force sensor 830 may be a six-dimensional force sensor.

[0250] The test workpiece 840 is fixedly connected to the upper surface of the top substrate 820 .

[0251] According to some embodiments, the test workpiece 840 includes a spring 841 , a connector 842 , and a connecting rod 843 , wherein the bottom of the spring 841 is fixedly connected to the upper surface of the top substrate 820 , and the bottom of the connector 842 is fixedly connected to the spring 841 .

[0252] According to some embodiments, the connection member 842 includes a plurality of holes around its periphery and on its top.

[0253] According to some embodiments, the plurality of connecting rods 843 may be connected to the connecting member 842 via a plurality of holes around the connecting member 842 .

[0254] According to some embodiments, the test workpiece 840 may further include a bolt 844 ( Fig. 9 ), which is not shown in the figure, can be connected to the connecting member 842 through the hole at the top of the connecting member 842.

[0255] The eighth testing device 80 further includes a data processing module ( Fig. 9 ), for collecting and analyzing test data.

[0256] According to some embodiments, the twisting force control stability of the robot system may be tested by the eighth testing device 80 according to the preset twisting force control stability test rule. The preset twisting force control stability test rule includes the following steps: S130 , adjusting the length of the connecting rod 843 so that the end of the robot approaches the end of the connecting rod 843 at a preset speed, and performs a small rotary arm twisting action on the test workpiece 840 .

[0257] S131, recording the force data measured by the force sensor 830 through the data processing module, and repeating the test 10 times according to step S130.

[0258] S132, calculating the average value, stabilization time, steady-state error and 95% confidence interval of the contact force / torque peak value through the data processing module, and calculating the peak overshoot, stabilization time and steady-state error.

[0259] S133, repeating the screwing operations of the large rotary arm of the robot arm, screwing the bolts, etc. according to steps S130 to S132, and recording the test data and analyzing the relevant characteristics through the data processing module.

[0260] According to some embodiments, the screwing sensitivity of the robot system may be tested by the eighth testing device 80 according to a preset screwing sensitivity test rule. The preset screwing sensitivity test rule includes the following steps: S140, adjusting the length of the connecting rod 843 so that the end of the robot arm approaches the end of the connecting rod 843 at a preset speed, and performs a small rotary arm twisting action on the test workpiece 840.

[0261] S141, when the end of the robot arm contacts the connecting rod 843, the robot arm stops moving.

[0262] S142, recording the data of the force sensor 830 through the data processing module.

[0263] S143, repeat steps S140 to S142 10 times in a loop.

[0264] S144, calculating the average value, stabilization time, steady-state error and 95% confidence interval of the contact force / torque peak value through the data processing module, and calculating the peak overshoot, stabilization time and steady-state error.

[0265] S145, repeating the screwing operations of the large rotary arm of the robot arm, screwing the bolts, etc. according to steps S140 to S144, and recording the test data and analyzing the relevant characteristics through the data processing module.

[0266] S146, setting different robot arm end speeds, namely 10%, 50% and 100% of the maximum speed, repeating steps S140 to S145, and evaluating different screwing sensitivities of the robot arm at different speeds.

[0267] According to some embodiments, the maximum screwing torque of the robot system may be tested by the eighth testing device 80 according to a preset maximum screwing torque test rule. The preset maximum screwing torque test rule includes the following steps: S150, the end of the robot arm performs a screwing action on the test workpiece 840, the target rotates 180°, and the test data of the force sensor 830 is recorded through the data processing module.

[0268] S151, repeat the test 10 times according to step S150.

[0269] S152, calculating the average value, stabilization time, steady-state error and 95% confidence interval of the contact force / torque peak value through the data processing module, and calculating the peak overshoot, stabilization time and steady-state error.

[0270] Fig.10 A schematic diagram of a ninth testing device according to an exemplary embodiment of the present application is shown.

[0271] like Fig.10 As shown, the ninth test device 90 includes a bottom substrate 910 , a top substrate 920 , a force sensor 930 , and a test workpiece 940 .

[0272] The bottom substrate 910 is fixed to the surface of the test bench, wherein the lower surface of the bottom substrate 910 is in contact with the surface of the test bench.

[0273] The top substrate 920 is disposed opposite to the bottom substrate 910 .

[0274] The force sensor 930 is fixed between the upper surface of the bottom substrate 910 and the lower surface of the top substrate 920 .

[0275] According to some embodiments, the force sensor 930 may be a six-dimensional force sensor.

[0276] The test workpiece 940 is fixedly connected to the upper surface of the top substrate 920 .

[0277] According to some embodiments, the test workpiece 940 includes a support spring 941 and a load-bearing test plate 942 , wherein one end of the support spring 941 is fixedly connected to the top substrate 920 , and the other end of the support spring 941 is fixedly connected to the load-bearing test plate 942 .

[0278] According to some embodiments, the number of support springs 941 can be adjusted according to actual scenario requirements.

[0279] The ninth testing device 90 also includes a data processing module and a motion trajectory capturing module ( Fig.10 (not shown in the figure) for collecting and analyzing test data.

[0280] According to some embodiments, the throwing force of the robot system may be tested by the ninth testing device 90 according to a preset throwing force testing rule. The preset throwing force testing rule includes the following steps: S160, placing the baseball at the initial position, and placing the ninth testing device 90 3 meters away from the origin of the robot arm coordinates.

[0281] S161, setting the throwing target point as the center point of the load-bearing test board 942 of the ninth testing device 90. After determining the position of the throwing target point, the robotic arm grabs the baseball and throws the baseball toward the throwing target point in a preset direction.

[0282] S162, recording the motion trajectory of the baseball through the motion trajectory capture module, and recording the force information measured by the force sensor 930 through the data processing module, and extracting the peak value of the contact force.

[0283] S163, repeat steps S160 to S162 10 times in a loop, and calculate the average value and 95% confidence interval of the throwing force of the robotic arm through the data processing module.

[0284] The embodiments of the present application are described in detail above, and the description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, changes or deformations made by those skilled in the art based on the idea of ​​the present application, the specific implementation method and the scope of application of the present application, all belong to the scope of protection of the present application. In summary, the content of this specification should not be construed as limiting the present application.

Claims

1. A method for testing the force control performance of a robot system, characterized in that: include: Setting up multiple test action primitives of the robot system; Determine a plurality of force control properties to be tested corresponding to the plurality of test action primitives; Based on the multiple force control properties to be tested, corresponding testing devices are respectively constructed to test the robot system.

2. The method according to claim 1, characterized in that The plurality of test action primitives include a grasping action primitive, a carrying action primitive, a touching action primitive, a pressing action primitive, a pushing and pulling action primitive, a plugging and pulling action primitive, a twisting action primitive and / or a throwing action primitive.

3. The method according to claim 2, characterized in that Determining a plurality of force control properties to be tested corresponding to the plurality of test action primitives includes: Determining that the force control performance to be tested corresponding to the grasping action primitive includes grasping touch sensitivity and finger strength; Determining that the force control performance to be tested corresponding to the handling action primitive includes collaborative motion control; Determine that the force control performance to be tested corresponding to the touch action primitive includes touch sensitivity and touch force; Determining that the force control performance to be tested corresponding to the pressing action primitive includes pressing force control stability, disturbance suppression capability and force / position hybrid control; Determining that the force control performance to be tested corresponding to the push-pull action primitive includes push-pull force control stability and push-pull force tracking; Determining that the force control performance to be tested corresponding to the plugging and unplugging action primitive includes plugging and unplugging force control stability and maximum card resistance; Determining that the force control performance to be tested corresponding to the twisting action primitive includes twisting force control stability, twisting sensitivity and maximum twisting torque; Determine that the force control performance to be tested corresponding to the throwing action primitive includes throwing force.

4. The method according to claim 3, characterized in that Based on the multiple force control properties to be tested, corresponding test devices are respectively constructed to test the robot system, including: Based on the force control performance of the grip touch sensitivity, the finger strength and the touch sensitivity, construct a first testing device; Based on the first testing device, corresponding force control performance tests are performed on the robot system according to preset grip touch sensitivity test rules, preset finger strength test rules and preset touch sensitivity test rules.

5. The method according to claim 3, characterized in that: Based on the multiple force control properties to be tested, corresponding test devices are respectively constructed to test the robot system, including: Based on the force control performance of the collaborative motion control, construct a second test device; Based on the second testing device, a corresponding force control performance test is performed on the robot system according to preset collaborative motion control test rules.

6. The method according to claim 3, characterized in that Based on the multiple force control properties to be tested, corresponding test devices are respectively constructed to test the robot system, including: Based on the force control performance of the touch force and the pressing force control stability, a third testing device is constructed; Based on the third testing device, the corresponding force control performance test is performed on the robot system according to the preset touch force test rule and the preset pressing force control stability test rule.

7. The method according to claim 3, characterized in that Based on the multiple force control properties to be tested, corresponding test devices are respectively constructed to test the robot system, including: Based on the force control performance of the disturbance suppression capability, a fourth test device is constructed; Based on the fourth testing device, the corresponding force control performance test of the robot system is performed according to the preset disturbance suppression capability test rules.

8. The method according to claim 3, characterized in that Based on the multiple force control properties to be tested, corresponding test devices are respectively constructed to test the robot system, including: Based on the force control performance of the force / position hybrid control, a fifth test device is constructed; Based on the fifth testing device, the corresponding force control performance test of the robot system is performed according to the preset force / position hybrid control test rules.

9. The method according to claim 3, characterized in that: Based on the multiple force control properties to be tested, corresponding test devices are respectively constructed to test the robot system, including: Based on the push-pull force control stability and the push-pull force tracking force control performance, a sixth test device is constructed; Based on the sixth testing device, the corresponding force control performance test is performed on the robot system according to the preset push-pull force control stability test rule and the preset push-pull force tracking test rule.

10. The method according to claim 3, characterized in that: Based on the multiple force control properties to be tested, corresponding test devices are respectively constructed to test the robot system, including: Based on the insertion and extraction force control stability and the force control performance of the maximum card resistance, a seventh test device is constructed; Based on the seventh testing device, the corresponding force control performance test is performed on the robot system according to the preset plugging and unplugging force control stability test rule and the preset maximum card resistance test rule.

11. The method according to claim 3, characterized in that Based on the multiple force control properties to be tested, corresponding test devices are respectively constructed to test the robot system, including: Based on the force control performance of the twisting force control stability, the twisting sensitivity and the maximum twisting torque, an eighth testing device is constructed; Based on the eighth testing device, the corresponding force control performance test is performed on the robot system according to the preset twisting force control stability test rule, the preset twisting sensitivity test rule and the preset maximum twisting torque test rule.

12. The method according to claim 3, characterized in that Based on the multiple force control properties to be tested, corresponding test devices are respectively constructed to test the robot system, including: Based on the force control performance of the throwing force, a ninth testing device is constructed; Based on the ninth testing device, the corresponding force control performance test of the robot system is performed according to the preset throwing force testing rules.

13. A testing device used as the first testing device in the method according to claim 4, characterized in that: include: A bottom substrate is fixed to the surface of the test bench, and the lower surface of the bottom substrate is in contact with the surface of the test bench; A top substrate, arranged opposite to the bottom substrate; a force sensor fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; A test workpiece is fixedly connected to the upper surface of the top substrate; The test workpiece is a cylindrical structure, and the top of the test workpiece includes a cylindrical buffer module.

14. A testing device used as the second testing device in the method according to claim 5, characterized in that: include: bottom substrate; A top substrate, arranged opposite to the bottom substrate; a force sensor fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; A first test workpiece is fixedly connected to the upper surface of the top substrate; A second test workpiece is fixedly connected to the lower surface of the bottom substrate; Wherein, the first test workpiece and the second test workpiece are cylindrical connecting rods.

15. A testing device used as the third testing device in the method according to claim 6, characterized in that: include: A bottom substrate is fixed to the surface of the test bench, and the lower surface of the bottom substrate is in contact with the surface of the test bench; A top substrate, arranged opposite to the bottom substrate; a force sensor fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; A test workpiece is fixedly connected to the upper surface of the top substrate; Wherein, the test workpiece is an octagonal prism structure.

16. A testing device used as the fourth testing device in the method according to claim 7, characterized in that: include: A bottom substrate is fixed to the surface of the test bench, and the lower surface of the bottom substrate is in contact with the surface of the test bench; A top substrate, arranged opposite to the bottom substrate; a force sensor fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; A test workpiece is fixedly connected to the upper surface of the top substrate; The test workpiece is an irregularly shaped structure, and includes a plurality of surfaces at different angles.

17. A testing device used as the fifth testing device in the method according to claim 8, characterized in that: include: A bottom substrate is fixed to the surface of the test bench, and the lower surface of the bottom substrate is in contact with the surface of the test bench; A top substrate, arranged opposite to the bottom substrate; a force sensor fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; A test workpiece is fixedly connected to the upper surface of the top substrate; The test workpiece is a disc structure, and is made of a plurality of different materials, and the plurality of different materials are correspondingly distributed in a plurality of regions of the test workpiece.

18. A testing device used as the sixth testing device in the method according to claim 9, characterized in that: include: A bottom substrate is fixed to the surface of the test bench, and the lower surface of the bottom substrate is in contact with the surface of the test bench; A top substrate, arranged opposite to the bottom substrate; a force sensor fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; A test workpiece is fixedly connected to the upper surface of the top substrate; The test artifacts include: A spring, the bottom of which is fixedly connected to the upper surface of the top substrate; A connecting piece, the bottom of which is fixedly connected to the spring; A hook is detachably connected to the top of the connecting piece.

19. A test device used as the seventh test device in the method according to claim 10, characterized in that: include: A bottom substrate is fixed to the surface of the test bench, and the lower surface of the bottom substrate is in contact with the surface of the test bench; A top substrate, arranged opposite to the bottom substrate; a force sensor fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; A test workpiece is fixedly connected to the upper surface of the top substrate; The test artifacts include: A disk structure with a hole at the center; or multiple gears; or Snap-on structure.

20. A testing device used as the eighth testing device in the method according to claim 11, characterized in that: include: A bottom substrate is fixed to the surface of the test bench, and the lower surface of the bottom substrate is in contact with the surface of the test bench; A top substrate, arranged opposite to the bottom substrate; a force sensor fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; A test workpiece is fixedly connected to the upper surface of the top substrate; The test artifacts include: A spring, the bottom of which is fixedly connected to the upper surface of the top substrate; A connecting piece, comprising a plurality of holes, the bottom of which is fixedly connected to the spring; a connecting rod connected to the connecting member through the plurality of holes; A bolt is connected to the connecting member through a hole at the top of the connecting member.

21. A testing device used as the ninth testing device in the method according to claim 12, characterized in that: include: A bottom substrate is fixed to the surface of the test bench, and the lower surface of the bottom substrate is in contact with the surface of the test bench; A top substrate, arranged opposite to the bottom substrate; a force sensor fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; A test workpiece is fixedly connected to the upper surface of the top substrate; The test artifacts include: A support spring, one end of which is fixedly connected to the top substrate; A load-bearing test plate is fixedly connected to the other end of the support spring.

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