Testing Method and Testing Device for Force Control Performance of a Robot System

Abstract

The present application provides a method and a testing device for testing the force control performance of a robot system, relating to the technical field of robot performance testing. A method for testing the force control performance of a robot system includes: 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 respectively constructing corresponding testing devices based on the plurality of force control performances to be tested so as to test the robot system. According to the embodiments of the present application, the performance of a robot or a robotic arm based on force control can be accurately evaluated.

Description

Technical Field

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

[0002] The performance indicators of a robot or robotic arm are used to evaluate the performance of the robot or 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, the force control performance is a key indicator for a robot or robotic arm in performing various types of tasks.

[0003] Currently, the solutions for a robot or robotic arm system to perform force-based operation 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. And these solutions are provided by robot manufacturers and third-party integrators as software packages, and usually have no other performance specifications except for the sensing function.

[0004] At the present stage, collaborative robots use inherent torque sensors at the joint level to calculate the force or torque at the tool center point. These robots based on joint force sensors can be programmed to complete force-based manufacturing tasks. In terms of industry specifications, the current testing standards for robots or robotic arms include position, posture, trajectory, and simple compliance testing, and there is no systematic method and standard for testing force control performance. Summary of the Invention

[0005] According to one aspect of the present application, there is provided a method for testing the force control performance of a robot system, including: 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 respectively constructing corresponding test devices based on the plurality of force control performances to be tested 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 unplugging action primitive, a screwing action primitive, and / or a throwing action primitive.

[0007] According to some embodiments, determining multiple force control performances to be tested corresponding to multiple 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 carrying action primitive includes cooperative motion control; determining that the force control performance to be tested corresponding to the touching 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 rejection ability, and force / position hybrid control; determining that the force control performance to be tested corresponding to the pushing and pulling action primitive includes pushing and pulling force control stability and pushing and pulling 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 screwing action primitive includes screwing force control stability, screwing sensitivity, and maximum screwing torque; determining that the force control performance to be tested corresponding to the throwing action primitive includes throwing force.

[0008] 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 first test device based on the force control performances of grasping touch sensitivity, finger strength, and touch sensitivity; based on the first test device, respectively performing corresponding force control performance tests on the robot system according to a preset grasping touch sensitivity test rule, a preset finger strength test rule, and a preset touch sensitivity test rule.

[0009] 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 second test device based on the force control performance of cooperative motion control; based on the second test device, performing a corresponding force control performance test on the robot system according to a preset cooperative motion control test rule.

[0010] 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 third test device based on the force control performances of touch force and pressing force control stability; based on the third test device, respectively performing corresponding force control performance tests on the robot system according to a preset touch force test rule and a preset pressing force control stability test rule.

[0011] 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 fourth test device based on the force control performance of disturbance rejection ability; based on the fourth test device, performing a corresponding force control performance test on the robot system according to a preset disturbance rejection ability test rule.

[0012] According to some embodiments, corresponding test devices are respectively constructed based on multiple force control performances to be tested to test a robot system, including: constructing a fifth test device based on the force control performance of force / position hybrid control; and 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 respectively constructed based on multiple force control performances to be tested to test a robot system, including: constructing a sixth test device based on the force control performance of push-pull force control stability and push-pull force tracking; and 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 respectively.

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

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

[0016] According to some embodiments, corresponding test devices are respectively constructed based on multiple force control performances to be tested to test a robot system, including: constructing a ninth test device based on the force control performance of throwing force; and 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, there is provided a test device, used as the first test device in the method as described above, including: a bottom substrate fixed on 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 disposed 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; and 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, there is provided a testing device, which is used as the second testing device in the method as described above, including: a bottom substrate; a top substrate, which is arranged opposite to the bottom substrate; a force sensor, which is fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; a first test workpiece, which is fixedly connected to the upper surface of the top substrate; a second test workpiece, which 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.

[0019] According to one aspect of the present application, there is provided a testing device, which is used as the third testing device in the method as described above, including: a bottom substrate, which is fixed on 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, which is arranged opposite to the bottom substrate; a force sensor, which is fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; a test workpiece, which is 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, there is provided a testing device, which is used as the fourth testing device in the method as described above, including: a bottom substrate, which is fixed on 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, which is arranged opposite to the bottom substrate; a force sensor, which is fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; a test workpiece, which is fixedly connected to the upper surface of the top substrate; wherein, the test workpiece is an irregular-shaped structure, and the test workpiece includes multiple surfaces with different angles.

[0021] According to one aspect of the present application, there is provided a testing device, which is used as the fifth testing device in the method as described above, including: a bottom substrate, which is fixed on 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, which is arranged opposite to the bottom substrate; a force sensor, which is fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; a test workpiece, which is 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 multiple different materials, and the multiple different materials are correspondingly distributed in multiple regions of the test workpiece.

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

[0023] According to one aspect of the present application, there is provided a testing device, which serves as the seventh testing device in the method as described above, including: a bottom substrate fixed to the surface of the test bench, with the lower surface of the bottom substrate in contact with the surface of the test bench; a top substrate disposed 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 having a hole at the center; or a plurality of gears; or a snap structure.

[0024] According to one aspect of the present application, there is provided a testing device, which serves as the eighth testing device in the method as described above, including: a bottom substrate fixed to the surface of the test bench, with the lower surface of the bottom substrate in contact with the surface of the test bench; a top substrate disposed 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, with the bottom fixedly connected to the upper surface of the top substrate; a connecting member including a plurality of holes, with the bottom fixedly connected to the spring; a connecting rod connected to the connecting member through the plurality of holes; a bolt connected to the connecting member through the hole at the top of the connecting member.

[0025] According to one aspect of the present application, there is provided a testing device, which serves as the ninth testing device in the method as described above, including: a bottom substrate fixed to the surface of the test bench, with the lower surface of the bottom substrate in contact with the surface of the test bench; a top substrate disposed 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 support spring, with one end fixedly connected to the top substrate; a load-bearing test plate fixedly connected to the other end of the support spring.

[0026] According to the embodiments of the present application, the force control capabilities of robots with different perception and control schemes can be tested and measured through an independent external sensing measurement system, an adaptation mechanism, and an algorithm, so as to promote the credibility, unbiasedness, and cross-system unified comparability of the evaluation system. Moreover, the technical solution of the present application uses a high-precision six-axis force sensor and a modular test workpiece to independently measure the performance of the robot, with characteristics such as high test accuracy, comprehensive test force directions and types.

[0027] It should be understood that the above general description and the following detailed description are only exemplary and do not limit the present application. Description of the Drawings

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

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

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

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

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

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

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

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

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

[0037] Figure 9 The schematic diagram showing an eighth testing device according to an exemplary embodiment of the present application.

[0038] Figure 10 The schematic diagram showing a ninth testing device according to an exemplary embodiment of the present application. Detailed implementation manners

[0039] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various 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 thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. Like reference numerals in the figures denote like or similar parts, and thus their repetitive description will be omitted.

[0040] The features, structures, or characteristics described may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application can be practiced without one or more of these specific details, or by using other means, components, materials, devices, or operations, etc. In such cases, well-known structures, methods, devices, implementations, materials, or operations will not be shown or described in detail.

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

[0042] The terms "first", "second", etc. in the description and claims of this application and the above accompanying drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. 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 further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0043] This application provides a method and device for testing the force control performance of a robot system, which can test and measure the force control capabilities of robots with different perception and control schemes.

[0044] Hereinafter, with reference to the accompanying drawings, 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.

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

[0046] As Figure 1 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 tasks of the robot system are simplified into a plurality of 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 / pulling action primitive, a plugging / unplugging action primitive, a screwing action primitive, and / or a throwing action primitive.

[0049] Among them, the test of the grasping action primitive is a test for the manipulator.

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

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

[0052] The test of the pressing motion primitive is for the force control performance of the robotic arm's pressing force.

[0053] The test of the pushing and pulling motion primitive is for the force control performance and the pushing and pulling motion control performance of the robotic arm.

[0054] The test of the plugging and unplugging motion primitive is for the force control performance and the motion control performance of the robotic arm.

[0055] The test of the screwing motion primitive is for the force control performance and the motion control performance of the robotic arm.

[0056] The test of the throwing motion primitive is for the throwing motion control performance of the robotic arm.

[0057] In step S2000, determine the multiple force control performances to be tested corresponding to the multiple test motion primitives.

[0058] After determining the multiple test motion primitives, analyze the force control performance existing in each of the test motion primitives 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 motion primitive includes grasping touch sensitivity and finger strength.

[0060] Among them, touch sensitivity is the dynamic measurement of the minimum contact force exerted by the robot finger on the object, which affects the ability of fine interaction operations and detecting small force disturbances. The factors affecting touch sensitivity include hand sensors, motion controllers, bandwidth, joint speed, finger size, and finger configuration, etc.

[0061] Finger strength is the dynamic measure of the maximum force exerted by the robot finger on the environment, which affects the overall force of the manipulator during grasping or operation. Finger strength is measured on a single finger basis. The factors affecting finger strength include the capabilities of hand actuators, motion controllers, mechanical design, and finger configuration, etc.

[0062] According to some embodiments, the force control performance to be tested corresponding to the carrying motion primitive includes cooperative motion control.

[0063] Among them, cooperative motion control is the dynamic measure of the force exerted by the robot's two arms on the object, which will generate information about the internal force of the object when the two arms carry the object, reflecting the two-arm coordination ability of the robot during the carrying process. The factors affecting the combined force control characteristics include single-arm motion controllers, two-arm motion controllers, bandwidth, carrying configuration, and object size, etc.

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

[0065] Among them, the touch sensitivity is the dynamic measurement of the minimum contact force applied by the robot finger or the end of the robotic arm on an object, which affects the ability of fine interaction operations and the detection of small force disturbances. The factors affecting touch sensitivity include force sensors, motion controllers, bandwidth, motion speed, and finger / end configurations, etc.

[0066] The touch force is the dynamic measurement of the maximum force exerted by the robot finger / end of the robotic arm on the environment, which affects the overall force of the robot finger / end of the robotic arm during the touch operation. The factors affecting the touch force include actuator capabilities, motion controllers, mechanical designs, and finger configurations, etc.

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

[0068] Among them, the pressing force control stability refers to the measurement of the settling time, overshoot, and steady-state error when the robotic arm contacts the target surface, which reflects the ability of the controller to detect and maintain contact with the object. The factors affecting the pressing force control stability include force sensors, motion controllers, bandwidth, motion speed, etc.

[0069] The disturbance rejection ability is the deviation between the actual contact force and the desired contact force when the end of the robotic arm moves along the surface contour. Within a certain operating speed range, it can reflect the ability of the robot to perform continuous pressing. The factors affecting the disturbance rejection ability include force sensors, motion controllers, bandwidth, motion speed, etc.

[0070] The force / position hybrid control is the dynamic measurement of the force exerted on the environment while the end of the robotic arm is moving, which comprehensively reflects the motion control performance and force control performance of the robotic arm. The factors affecting the force / position hybrid control include actuator capabilities, motion controllers, mechanical designs, motion speed, and contact environment, etc.

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

[0072] Among them, the push-pull force control stability refers to the measurement of the settling time, overshoot, and steady-state error when the robotic arm contacts the target surface, which reflects the ability of the controller to detect and maintain contact with the object. The factors affecting the push-pull force control stability include force sensors, motion controllers, bandwidth, motion speed, and test objects, etc.

[0073] The push-pull force tracking refers to the characteristic of tracking the desired force after the robotic arm contacts the target surface, which reflects the ability of the controller to detect and maintain contact with the object. The factors affecting the force control stability include force sensors, motion controllers, bandwidth, motion speed, test objects, and contact environment, etc.

[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 jamming resistance.

[0075] Among them, the plugging and unplugging force control stability refers to the measurement of the establishment time, overshoot, and steady-state error when the robotic arm contacts the surface of the target object, reflecting the ability of the controller to detect and control the contact with the object, and characterizing the compliant control characteristics of the robotic arm. Factors affecting the plugging and unplugging force control stability include force sensors, motion controllers, bandwidth, motion speed, and the operating object, etc.

[0076] The maximum jamming resistance refers to the maximum contact force when the robotic arm is in a jamming state during the plugging and unplugging assembly process, reflecting the ability of the controller to detect the jamming state and control the contact force, and characterizing the compliant control characteristics of the robotic arm. Factors affecting the maximum jamming resistance include force sensors, motion controllers, bandwidth, motion speed, the operating object, and the clearance ratio, etc.

[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 screwing force control stability refers to the measurement of the establishment time, overshoot, and steady-state error when the robotic arm contacts the surface of the target object, reflecting the ability of the controller to detect and control the contact with the object, and characterizing the compliant control characteristics of the robotic arm. Factors affecting the screwing force control stability include force sensors, motion controllers, bandwidth, motion speed, and the operating object, etc.

[0079] The screwing sensitivity is the dynamic measurement of the minimum screwing torque applied by the end of the robotic arm to the object, affecting the screwing interaction operation and the ability to detect small torque disturbances. Factors affecting the screwing sensitivity include sensors, motion controllers, bandwidth, joint speed, the configuration of the operating object, etc.

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

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

[0082] The throwing force refers to the maximum force ability of the robotic arm to throw a standard test workpiece in a normal manner under windless conditions, reflecting the throwing maximum power and the control performance of the controller. Factors affecting the throwing force include motion controllers, bandwidth, the operating object, and environmental factors, etc.

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

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

[0085] According to some embodiments, a first test device is constructed based on the force control performances of grasping touch sensitivity, finger strength, and touch sensitivity.

[0086] Further, based on the first test device, the force control performance of the grasping touch sensitivity of the robot system is tested according to a preset grasping touch sensitivity test rule, the force control performance of the finger strength of the robot system is tested according to a preset finger strength test rule, and the force control performance of the touch sensitivity of the robot system is tested according to a preset touch sensitivity test rule.

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

[0088] Further, based on the second test device, the force control performance of the cooperative motion control of the robot system is tested according to a preset cooperative motion control test rule.

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

[0090] Further, based on the third test device, the force control performance of the touch force of the robot system is tested according to a preset touch force test rule, and the force control performance of the pressing force control stability of the robot system is tested according to a preset pressing force control stability test rule.

[0091] According to some embodiments, a fourth test device is constructed based on the force control performance of disturbance rejection ability.

[0092] Further, based on the fourth test device, the force control performance of the disturbance rejection ability of the robot system is tested according to a preset disturbance rejection ability test rule.

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

[0094] Further, based on the fifth test device, the force control performance of the force / position hybrid control of the robot system is tested according to a preset force / position hybrid control test rule.

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

[0096] Further, 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 a preset push-pull force control stability testing rule, and the force control performance of the push-pull force tracking of the robot system is tested according to a preset push-pull force tracking testing rule.

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

[0098] Further, based on the seventh testing device, the force control performance of the insertion and extraction force control stability of the robot system is tested according to a preset insertion and extraction force control stability testing rule, and the force control performance of the maximum clamping resistance of the robot system is tested according to a preset maximum clamping resistance testing rule.

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

[0100] Further, based on the eighth testing device, the force control performance of the screwing force control stability of the robot system is tested according to a preset screwing force control stability testing rule, the force control performance of the screwing sensitivity of the robot system is tested according to a preset screwing sensitivity testing rule, and the force control performance of the maximum screwing torque of the robot system is tested according to a preset maximum screwing torque testing rule.

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

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

[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 an independent external sensing measurement system, an adaptation mechanism, and an algorithm, with high testing accuracy and comprehensive testing directions and types of forces.

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

[0105] As Figure 2 shown, the first testing 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 to the surface of the test bench. Among them, 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 can 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 can be a cylindrical structure, and the top of the test workpiece 140 can include a cylindrical buffer module 141.

[0112] The first test device 10 further includes a data processing module ( Figure 2 not shown in the figure) for collecting and analyzing test data.

[0113] According to some embodiments, the grasping and touch sensitivity of the robot system can be tested through the first test device 10 according to a preset grasping and touch sensitivity test rule. The preset grasping and touch sensitivity test rule includes the following steps:

[0114] S10, the robot finger approaches the test workpiece 140 at a preset joint speed.

[0115] 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 during the collision.

[0116] S12, record the force test data through the data processing module.

[0117] S13, repeat steps S10 to S12 10 times, and calculate the average value and 95% confidence interval of the maximum contact force through the data processing module.

[0118] S14, set different robot finger closing speeds, namely 10%, 50% and 100% of the maximum speed of the robot finger, repeat steps S10 to S13, and evaluate the different touch sensitivities of the robot finger at different speeds through the data processing module.

[0119] According to some embodiments, the finger force of the robot system can be tested through the first test device 10 according to a preset finger force test rule. The preset finger force test rule includes the following steps:

[0120] S20, fully extend the robot finger, place the robot finger directly above the force sensor 130 and calibrate the zero - force reading of the force sensor 130.

[0121] S21, in the position control mode, fully close the robot finger to cause control saturation.

[0122] S22. Record the data of the force sensor 130 through the data processing module, and extract the magnitude of the contact force between the robotic finger and the test workpiece 140 from the quasi-static (stable) force region.

[0123] S23. Repeat steps S20 to S22 ten times, calculate the maximum fingertip force through the data processing module, and calculate the average value and 95% confidence interval to estimate the finger force of the robot.

[0124] According to some embodiments, the touch sensitivity of the robotic system can be tested by the first test device 10 according to preset touch sensitivity test rules. The preset touch sensitivity test rules include the following steps:

[0125] S30. The robotic finger / end of the robotic arm approaches the test workpiece 140 at a preset speed in the X-axis direction.

[0126] S31. When the contact surface of the robotic finger / end of the robotic arm contacts the buffer module 141, stop the movement, record the force data through the data processing module, and extract the peak contact force.

[0127] S32. Repeat steps S30 to S31 ten times, and calculate the average value and 95% confidence interval of the maximum contact force.

[0128] S33. Set different touch speeds of the robotic finger / end of the robotic arm, namely 10%, 50%, and 100% of the maximum speed of the robotic finger / end of the robotic arm, repeat steps S30 to S32, and evaluate the different touch sensitivities of the robotic finger / end of the robotic arm at different speeds through the data processing module.

[0129] S34. Repeat steps S30 to S33 in the Y-axis direction and the Z-axis direction respectively to test the touch sensitivities of the robotic finger / end of the robotic arm in different directions.

[0130] Figure 3 A schematic diagram showing a second test device according to an exemplary embodiment of the present application.

[0131] As Figure 3 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.

[0132] The top substrate 220 is disposed opposite to the bottom substrate 210.

[0133] The force sensor 230 is fixed between the upper surface of the bottom substrate 210 and the lower surface of the top substrate 220.

[0134] According to some embodiments, the force sensor 230 may employ a six-axis force sensor.

[0135] The first test workpiece 240 is fixedly connected to the upper surface of the top substrate 220.

[0136] The second test workpiece 250 is fixedly connected to the lower surface of the bottom substrate 210.

[0137] According to some embodiments, the first test workpiece 240 and the second test workpiece 250 may be cylindrical connecting rods.

[0138] The second test device 20 further includes a data processing module ( Figure 3 not shown in the figure) for collecting and analyzing test data.

[0139] According to some embodiments, the cooperative motion control performance of the robot system may be tested by the second test device 20 according to a preset cooperative motion control test rule. The preset cooperative motion control test rule includes the following steps:

[0140] S40, the two arms of the robot cooperate to respectively grasp the first test workpiece 240 and the second test workpiece 250, perform a horizontal lateral handling motion according to the desired motion trajectory, and calculate the quasi-static force and moment through the data processing module.

[0141] S41, the two arms of the robot cooperate to respectively grasp the first test workpiece 240 and the second test workpiece 250, perform a horizontal longitudinal handling motion according to the desired motion trajectory, and calculate the quasi-static force and moment through the data processing module.

[0142] S42, the two arms of the robot cooperate to respectively grasp the first test workpiece 240 and the second test workpiece 250, perform a vertical handling motion according to the desired motion trajectory, and calculate the quasi-static force and moment through the data processing module.

[0143] S43, repeat steps S40 to S42 10 times in a loop, and calculate the mean and 95% confidence interval of the quasi-static force and moment through the data processing module.

[0144] S44, repeat steps S40 to S43 on the first test workpiece 240 and the second test workpiece 250 with different diameters to obtain the handling cooperative motion control performance of test workpieces with different sizes.

[0145] S45, determine the cooperative motion control performance of the robot by calculating the L2 norm of the mean of the static force and moment in three directions, and the two lower bounds and two upper bounds of the confidence interval through the data processing module.

[0146] Figure 4 The schematic diagram of the third test device according to the exemplary embodiment of the present application is shown.

[0147] As shown Figure 4 in FIG. 3, the third testing device 30 includes a bottom substrate 310, a top substrate 320, a force sensor 330, and a test workpiece 340.

[0148] The bottom substrate 310 is fixed to the surface of the test bench. Among them, the lower surface of the bottom substrate 310 contacts the surface of the test bench.

[0149] The top substrate 320 is disposed opposite to the bottom substrate 310.

[0150] The force sensor 330 is fixed between the upper surface of the bottom substrate 310 and the lower surface of the top substrate 320.

[0151] According to some embodiments, the force sensor 330 can be a six - dimensional force sensor.

[0152] The test workpiece 340 is fixedly connected to the upper surface of the top substrate 320.

[0153] According to some embodiments, the test workpiece 340 can be an octagonal prism structure.

[0154] The third testing device 30 further includes a data processing module ( Figure 4 not shown in the figure) for collecting and analyzing test data.

[0155] According to some embodiments, according to a preset touch force test rule, the touch force of the robot system can be tested by the third testing device 30. The preset touch force test rule includes the following steps:

[0156] S50, fully extend the robot finger, place the robot finger / end of the robotic arm directly above the force sensor 330 along the X - axis direction, and calibrate the zero - force reading of the force sensor 330.

[0157] S51, in the position control mode, fully close the robot finger, or move the end of the robotic arm 5 mm further along the current axis to cause control saturation.

[0158] S52, record the test data of the force sensor 330 through the data processing module.

[0159] S53, repeat steps S50 to S52 ten times in a loop, and extract the contact force magnitude between the robot finger / end of the robotic arm and the test workpiece 340 in the quasi - static force region through the data processing module.

[0160] S54, obtain the maximum fingertip force through the data processing module, and calculate the average value and 95% confidence interval to estimate the touch force of the robot finger / end of the robotic arm.

[0161] S55. Repeat steps S50 to S54 in the Y-axis direction and the Z-axis direction respectively to test the touch force at the end of the robotic finger / robot arm in different directions.

[0162] According to some embodiments, the pressing force control stability of the robot system can be tested by the third test device 30 according to a preset pressing force control stability test rule. The preset pressing force control stability test rule includes the following steps:

[0163] S60. Input the desired step force Fd in the movement direction perpendicular to each surface of the test workpiece 340 in sequence, so that the robot arm maintains an appropriate force when contacting the surface of the test workpiece 340.

[0164] S61. Initially, the robot is in a non-contact state. After the contact surface between the robot and the test workpiece 340 comes into contact, it moves along the direction of the contact surface and applies a normal force to the contact surface.

[0165] S62. Set the minimum force Fdmin that can cause an effective robot response and conduct the test.

[0166] S63. Set the desired force to the maximum value Fdmax within the payload capacity range and conduct the test.

[0167] S64. Set the desired force to the intermediate value Fdmid between the minimum and maximum test forces and conduct the test.

[0168] S65. Record the test force data collected by the force sensor 330 through the data processing module, and repeat the test 10 times for the pressing force control stability in each test direction for evaluation.

[0169] S66. Calculate the average value of the contact force peak, the settling time, the steady-state error, and the 95% confidence interval through the data processing module, and calculate the peak overshoot, the settling time, and the steady-state error.

[0170] Figure 5 The schematic diagram of the fourth test device according to the exemplary embodiment of the present application is shown.

[0171] As Figure 5 shown, the fourth test device 40 includes a bottom substrate 410, a top substrate 420, a force sensor 430, and a test workpiece 440.

[0172] The bottom substrate 410 is fixed to the surface of the test bench. Among them, the lower surface of the bottom substrate 410 contacts the surface of the test bench.

[0173] The top substrate 420 is disposed opposite to the bottom substrate 410.

[0174] The force sensor 430 is fixed between the upper surface of the bottom substrate 410 and the lower surface of the top substrate 420.

[0175] According to some embodiments, the force sensor 430 may employ a six-axis force sensor.

[0176] The test workpiece 440 is fixedly connected to the upper surface of the top substrate 420.

[0177] According to some embodiments, the test workpiece 440 may be an irregular-shaped structure and include multiple surfaces at different angles.

[0178] In the embodiments of the present application, the test workpiece 440 includes 12 surfaces at different angles.

[0179] The fourth test device 40 further includes a data processing module ( Figure 5 not shown in the figure) for collecting and analyzing test data.

[0180] According to some embodiments, the disturbance rejection ability of the robot system may be tested through the fourth test device 40 according to a preset disturbance rejection ability test rule. The preset disturbance rejection ability test rule includes the following steps:

[0181] S70, Move the robot end linearly in space along a specified section on the angled plane of the test workpiece 440.

[0182] S71, At the beginning, the robot is in a non-contact state. After the contact surface between the robot and the test workpiece 440 comes into contact, it moves in a set direction at a preset speed and applies a normal force to the contact surface.

[0183] S72, Set the minimum force Fdmin that can cause an effective robot response and conduct the test.

[0184] S73, Set the desired force as the maximum value Fdmax within the payload capacity range and conduct the test.

[0185] S74, Set the desired force as the intermediate value Fdmid between the minimum and maximum test forces and conduct the test.

[0186] S75, Record the force data of the force sensor 430 through the data processing module, and repeat the test 10 times for the movement in each test direction for evaluation.

[0187] S76, Calculate 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 calculate the peak overshoot, stabilization time, and steady-state error.

[0188] S77, Modify the movement speed to 10%, 50%, and 100% of the maximum speed of the robotic arm, and repeat steps S70 to S76 to test the disturbance rejection ability of the robotic arm at different speeds.

[0189] Figure 6 Schematic diagram showing a fifth test device according to an exemplary embodiment of the present application.

[0190] As Figure 6 shown, the fifth test device 50 includes a bottom substrate 510, a top substrate 520, a force sensor 530, and a test workpiece 540.

[0191] The bottom substrate 510 is fixed to the surface of the test bench. Among them, the lower surface of the bottom substrate 510 contacts the surface of the test bench.

[0192] The top substrate 520 is disposed opposite to the bottom substrate 510.

[0193] The force sensor 530 is fixed between the upper surface of the bottom substrate 510 and the lower surface of the top substrate 520.

[0194] According to some embodiments, the force sensor 530 can be a six - dimensional force sensor.

[0195] The test workpiece 540 is fixedly connected to the upper surface of the top substrate 520.

[0196] According to some embodiments, the test workpiece 540 can be a disc structure, and the test workpiece 540 is made of a variety of different materials, and the variety of different materials are correspondingly distributed in multiple regions of the test workpiece.

[0197] In the embodiment of the present application, the test workpiece 540 is made of 3 different materials, and the 3 different materials are correspondingly distributed in 3 regions of the test workpiece, namely the first material region 541, the second material region 542, and the third material region 543.

[0198] The fifth test device 50 further includes a data processing module and a laser tracker (both are not shown in Figure 6 ), which are used for collecting and analyzing test data.

[0199] According to some embodiments, the force / position hybrid control performance of the robot system can be tested through the fifth test device 50 according to a preset force / position hybrid control test rule. The preset force / position hybrid control test rule includes the following steps:

[0200] S80, Set the desired contact force and set the movement speed of the end of the robotic arm.

[0201] S81, Move the end of the robotic arm along the Z - axis direction towards the test workpiece 540 until it contacts the test workpiece 540.

[0202] S82, Keep the end of the robotic arm in contact with the test workpiece 540 and maintain the contact force according to the set value of the desired contact force.

[0203] S83. The end of the robotic arm moves along the desired motion trajectory in the regions corresponding to three different materials of the test workpiece 540, and at the same time, the trajectory information and force information recorded by the laser tracker and the force sensor 530 are obtained through the data processing module.

[0204] S84. The robotic arm repeats the motion trajectory of steps S80 to S83 ten times in a loop.

[0205] S85. The data processing module calculates the motion trajectory error and the contact force error, and calculates the average value and the 95% confidence interval to estimate the touch force of the robotic arm.

[0206] S86. The motion speeds are respectively set to 10%, 50%, and 100% of the rated speed of the robotic arm, and steps S80 to S85 are repeatedly executed to test the force / position hybrid control performance of the robotic arm at different speeds.

[0207] Figure 7 The schematic diagram of the sixth test device according to the exemplary embodiment of the present application is shown.

[0208] As Figure 7 shown, the sixth test device 60 includes a bottom substrate 610, a top substrate 620, a force sensor 630, and a test workpiece 640.

[0209] The bottom substrate 610 is fixed on the surface of the test bench. Among them, the lower surface of the bottom substrate 610 contacts the surface of the test bench.

[0210] The top substrate 620 is disposed opposite to the bottom substrate 610.

[0211] The force sensor 630 is fixed between the upper surface of the bottom substrate 610 and the lower surface of the top substrate 620.

[0212] According to some embodiments, the force sensor 630 can adopt a six - dimensional force sensor.

[0213] The test workpiece 640 is fixedly connected to the upper surface of the top substrate 620.

[0214] According to some embodiments, the test workpiece 640 includes a spring 641, a connecting member 642, and a hook 643.

[0215] According to some embodiments, the bottom of the spring 641 is fixedly connected to the upper surface of the top substrate 620, the connecting member 642 is fixedly connected to the spring 641, and the hook 643 is connected to the top of the connecting member 642 and the hook 643 is detachable.

[0216] According to some embodiments, when the hook 643 is connected to the top of the connecting member 642, the test workpiece 640 can be used for testing the force control performance of the tensile part in the force control stability of push - pull force control and the force control performance of push - pull force tracking.

[0217] According to some embodiments, when the hook 643 is not connected to the top of the connecting member 642 (i.e., the hook 643 is disassembled), the test workpiece 640 can be used for testing the force control performance of the thrust part in the force control stability and force control tracking of the push-pull force.

[0218] The sixth test device 60 further includes a data processing module ( Figure 7 not shown in the figure) for collecting and analyzing test data.

[0219] According to some embodiments, the push-pull force control stability of the robot system can be tested by the sixth test device 60 according to the preset push-pull force control stability test rules. The preset push-pull force control stability test rules include the following steps:

[0220] S90, linearly push / pull the test workpiece 640 along the normal direction of the test workpiece 640 at the end of the robot.

[0221] S91, at the beginning, the robot is in a non-contact state. After the robot pushes / pulls the test workpiece 640, continue to push / pull until the desired force is reached.

[0222] S92, set the minimum acting force Fdmin that can cause an effective robot response and conduct the test.

[0223] S93, set the desired force as the maximum value Fdmax within the payload capacity range and conduct the test.

[0224] S94, set the desired force as the intermediate value Fdmid between the minimum and maximum test forces and conduct the test.

[0225] S95, record the force data of the force sensor 630 through the data processing module. For the push / pull force control stability of the robot in each test direction (i.e., the X-axis, Y-axis, and Z-axis directions) for evaluation, repeat steps S90 to S94 10 times in a loop.

[0226] S96, replace the test workpiece 640 with different elasticities and specifications, and repeat steps S90 to S95.

[0227] S97, calculate the average value of the contact force peak, the stabilization time, the steady-state error, and the 95% confidence interval through the data processing module, and calculate the peak overshoot, the stabilization time, and the steady-state error.

[0228] According to some embodiments, the push-pull force tracking performance of the robot system can be tested by the sixth test device 60 according to the preset push-pull force tracking test rules. The preset push-pull force tracking test rules include the following steps:

[0229] S100, cause the end of the robot to perform a linear push / pull motion on the test workpiece 640 along a preset direction.

[0230] S101, at the beginning, the robot is in a non-contact state. After the robot pushes / pulls the test workpiece 640, continue to push / pull until the desired force is reached.

[0231] S102, the end of the robot tracks the desired force according to the desired force trajectory.

[0232] S103, record the force data of the force sensor 630 through the data processing module. For the tracking performance of the push / pull force of the robot in each test direction (i.e., the X-axis, Y-axis, and Z-axis directions) for evaluation, repeat steps S100 to S102 10 times in a loop.

[0233] S104, replace the test workpiece 640 with different elasticities and specifications, and repeat steps S100 to S103.

[0234] S105, calculate the average value, stabilization time, and 95% confidence interval of the contact force error through the data processing module.

[0235] Figure 8 A schematic diagram showing a seventh test device according to an exemplary embodiment of the present application is shown.

[0236] As Figure 8 shown, the seventh test device 70 includes a bottom substrate 710, a top substrate 720, a force sensor 730, and a test workpiece 740.

[0237] The bottom substrate 710 is fixed to the surface of the test bench. Among them, the lower surface of the bottom substrate 710 contacts the surface of the test bench.

[0238] The top substrate 720 is disposed opposite to the bottom substrate 710.

[0239] The force sensor 730 is fixed between the upper surface of the bottom substrate 710 and the lower surface of the top substrate 720.

[0240] According to some embodiments, the force sensor 730 can adopt a six-dimensional force sensor.

[0241] The test workpiece 740 is fixedly connected to the upper surface of the top substrate 720.

[0242] According to some embodiments, the test workpiece 740 can be a disc structure with a hole at its center. Among them, the shape of the hole at the center of the test tool 740 can be set according to the cross-sectional shape of the link of the end of the robot to be tested, such as a circular hole or a square hole.

[0243] According to some embodiments, the test workpiece 740 may also be a plurality of horizontally arranged gears for performing plugging and unplugging operations such as gear insertion and meshing at the end of the robot.

[0244] According to some embodiments, the test workpiece 740 may also be a snap structure arranged horizontally for performing plugging and unplugging operations such as snap ring buckling at the end of the robot.

[0245] The seventh test device 70 further includes a data processing module ( Figure 8 not shown in the figure) for collecting and analyzing test data.

[0246] According to some embodiments, the plugging and unplugging force control stability of the robot system can be tested through the seventh test device 70 according to a preset plugging and unplugging force control stability test rule. The preset plugging and unplugging force control stability test rule includes the following steps:

[0247] S110, the robot performs a plugging and unplugging action of inserting the connecting rod into the hole on the test workpiece 740.

[0248] S111, the data processing module records the force data measured by the force sensor 730, and repeats the test 10 times according to step S110.

[0249] S112, the data processing module calculates the average value of the contact force peak, the stabilization time, the steady-state error, and the 95% confidence interval, and calculates the peak overshoot, the stabilization time, and the steady-state error.

[0250] S113, repeat the plugging and unplugging operations such as snap ring buckling, gear insertion and meshing of the robot according to steps S110 to S112, and the data processing module records the test data and analyzes the relevant characteristics.

[0251] According to some embodiments, the maximum snap resistance performance of the robot system can be tested through the seventh test device 70 according to a preset maximum snap resistance test rule. The preset maximum snap resistance test rule includes the following steps:

[0252] S120, make the test workpiece 740 perform the assembly action of inserting the connecting rod into the hole of the robot in a blocked posture at a preset inclination angle. If the contact force exceeds the set maximum threshold Fmax, stop the action. The data processing module records the data of the force sensor 730 during the operation and extracts the maximum contact force.

[0253] S121, repeat the test 10 times according to step S120.

[0254] S122, the data processing module calculates the average value of the contact force peak, the stabilization time, the steady-state error, and the 95% confidence interval, and calculates the peak overshoot, the stabilization time, and the steady-state error.

[0255] S123. Repeat the plugging and unplugging operations such as gear insertion and meshing according to the steps from S120 to S122, and record the test data and analyze the relevant characteristics through the data processing module.

[0256] Figure 9 Schematic diagram showing an eighth test device according to an exemplary embodiment of the present application.

[0257] As Figure 9 shown, the eighth test device 80 includes a bottom substrate 810, a top substrate 820, a force sensor 830, and a test workpiece 840.

[0258] The bottom substrate 810 is fixed to the surface of the test bench. Among them, the lower surface of the bottom substrate 810 contacts the surface of the test bench.

[0259] The top substrate 820 is disposed opposite to the bottom substrate 810.

[0260] The force sensor 830 is fixed between the upper surface of the bottom substrate 810 and the lower surface of the top substrate 820.

[0261] According to some embodiments, the force sensor 830 can be a six - dimensional force sensor.

[0262] The test workpiece 840 is fixedly connected to the upper surface of the top substrate 820.

[0263] According to some embodiments, the test workpiece 840 includes a spring 841, a connecting member 842, and a connecting rod 843. Among them, the bottom of the spring 841 is fixedly connected to the upper surface of the top substrate 820, and the bottom of the connecting member 842 is fixedly connected to the spring 841.

[0264] According to some embodiments, the periphery and the top of the connecting member 842 include a plurality of holes.

[0265] According to some embodiments, a plurality of connecting rods 843 can be connected to the connecting member 842 through a plurality of holes around the connecting member 842.

[0266] According to some embodiments, the test workpiece 840 may further include a bolt 844 ( Figure 9 not shown in the figure), which can be connected to the connecting member 842 through the hole at the top of the connecting member 842.

[0267] The eighth test device 80 further includes a data processing module ( Figure 9 not shown in the figure), which is used for collecting and analyzing test data.

[0268] According to some embodiments, the screw - tightening force control stability of the robot system can be tested through the eighth test device 80 according to a preset screw - tightening force control stability test rule. The preset screw - tightening force control stability test rule includes the following steps:

[0269] S130. Adjust 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 perform a small swing arm screwing action on the test workpiece 840.

[0270] S131. Record the force data measured by the force sensor 830 through the data processing module, and repeat the test 10 times according to the steps of S130.

[0271] S132. Calculate 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 calculate the peak overshoot, stabilization time, and steady-state error.

[0272] S133. Repeat the screwing operations such as the large swing arm screwing and bolt screwing of the robotic arm according to the steps of S130 to S132, record the test data through the data processing module, and analyze the relevant characteristics.

[0273] According to some embodiments, the screwing sensitivity of the robot system can be tested by the eighth test device 80 according to a preset screwing sensitivity test rule. The preset screwing sensitivity test rule includes the following steps:

[0274] S140. Adjust the length of the connecting rod 843 so that the end of the robotic arm approaches the end of the connecting rod 843 at a preset speed, and perform a small swing arm screwing action on the test workpiece 840.

[0275] S141. After the end of the robotic arm contacts the connecting rod 843, the robotic arm stops moving.

[0276] S142. Record the data of the force sensor 830 through the data processing module.

[0277] S143. Repeat the steps of S140 to S142 in a loop 10 times.

[0278] S144. Calculate 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 calculate the peak overshoot, stabilization time, and steady-state error.

[0279] S145. Repeat the screwing operations such as the large swing arm screwing and bolt screwing of the robotic arm according to the steps of S140 to S144, record the test data through the data processing module, and analyze the relevant characteristics.

[0280] S146. Set different speeds of the end of the robotic arm, namely 10%, 50%, and 100% of the maximum speed, repeat the steps of S140 to S145, and evaluate the different screwing sensitivities of the robotic arm at different speeds.

[0281] According to some embodiments, the maximum screwing torque of the robot system can be tested by the eighth testing device 80 according to a preset maximum screwing torque testing rule. The preset maximum screwing torque testing rule includes the following steps:

[0282] S150, the end of the robotic arm performs a screwing action on the test workpiece 840, with a target rotation of 180°, and the data processing module records the test data of the force sensor 830.

[0283] S151, repeat the test 10 times according to the steps of S150.

[0284] S152, the data processing module calculates the average value of the contact force / torque peak value, the stabilization time, the steady-state error, and the 95% confidence interval, and calculates the peak overshoot, the stabilization time, and the steady-state error.

[0285] Figure 10 The schematic diagram of the ninth testing device according to an exemplary embodiment of the present application is shown.

[0286] As Figure 10 shown, the ninth testing device 90 includes a bottom substrate 910, a top substrate 920, a force sensor 930, and a test workpiece 940.

[0287] The bottom substrate 910 is fixed to the surface of the test bench. Among them, the lower surface of the bottom substrate 910 is in contact with the surface of the test bench.

[0288] The top substrate 920 is disposed opposite to the bottom substrate 910.

[0289] The force sensor 930 is fixed between the upper surface of the bottom substrate 910 and the lower surface of the top substrate 920.

[0290] According to some embodiments, the force sensor 930 can adopt a six-axis force sensor.

[0291] The test workpiece 940 is fixedly connected to the upper surface of the top substrate 920.

[0292] According to some embodiments, the test workpiece 940 includes a support spring 941 and a load-bearing test plate 942. Among them, 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.

[0293] According to some embodiments, the number of the support springs 941 can be adjusted according to the actual scenario requirements.

[0294] The ninth testing device 90 further includes a data processing module and a motion trajectory capture module ( Figure 10 not shown in both), which are used for collecting and analyzing test data.

[0295] According to some embodiments, the throwing force of the robot system can 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:

[0296] S160, place the baseball at the initial position and place the ninth testing device 90 at a position 3 meters from the origin of the robotic arm coordinates.

[0297] S161, set the throwing target point as the center point of the load testing plate 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 towards the throwing target point in a preset direction.

[0298] S162, record the movement trajectory of the baseball through the movement trajectory capture module, record the force information measured by the force sensor 930 through the data processing module, and extract the peak value of the contact force.

[0299] S163, repeat steps S160 to S162 in a loop 10 times, and calculate the average value and 95% confidence interval of the throwing force of the robotic arm through the data processing module.

[0300] The embodiments of the present application have been introduced in detail above. The description of the above embodiments is only used to help understand the method and its core idea of the present application. At the same time, any changes or deformations made by those skilled in the art based on the idea of the present application, within the specific implementation manner and application scope of the present application, fall within the scope of protection of the present application. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A method for testing the force control performance of a robot system, characterized in that: include: Setting a plurality of test action primitives of the robot system, wherein 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 unplugging action primitive, a twisting action primitive and a throwing action primitive; 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; Determining that the force control performance to be tested corresponding to the throwing action primitive includes throwing force; 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, respectively 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; 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 a preset collaborative motion control test rule; 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; Based on the force control performance of the disturbance suppression capability, a fourth test device is constructed; Based on the fourth testing device, a corresponding force control performance test is performed on the robot system according to a preset disturbance suppression capability test rule; Based on the force control performance of the force / position hybrid control, a fifth test device is constructed; Based on the fifth testing device, a corresponding force control performance test is performed on the robot system according to a preset force / position hybrid control test rule; 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; 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 test 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; 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 test device, the robot system is subjected to corresponding force control performance tests according to the preset twisting force control stability test rule, the preset twisting sensitivity test rule and the preset maximum twisting torque test rule; Based on the force control performance of the throwing force, a ninth testing device is constructed; Based on the ninth test device, the robot system is subjected to corresponding force control performance tests according to preset throwing force test rules, including: Placing a preset test ball and the ninth test device at a preset position; Setting a throwing target point based on the ninth testing device; Controlling the robot system at the preset position to throw the test ball toward the throwing target point in a preset direction; The motion trajectory and force information of the test ball during its motion are obtained.

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