GB/T 38559-2020 in English

VALID

Specification of industrial robots force control

Issued on:2020-03-06
Implemented on:2020-10-01
File Format:PDF
Delivery:Via email within 1~3 business days

Price(USD)： $200.00
$194.00

Standard No:	GB/T 38559-2020
Document status:	VALID
Title in English:	Specification of industrial robots force control
Title in Chinese:	工业机器人力控制技术规范
Language:	English
File Format:	Electronic (PDF)
Delivery:	Via email within 1~3 business days
Issued on:	2020-03-06
Implemented on:	2020-10-01
ICS Classification:	25.040.30-Industrial robots. Manipulators
Chinese Classification:	J28-Automatic logistics equipment
Professional Classification:	GB-National Standard
Related Keywords:	force control stiffness control intelligent control stage control introduction industrial robot force control technology system architecture indirect force control direct force control
Related Topics:	robot Industrial robot Industrial Robot Standard manpower Robotic sample preparation Industrial Control Instruments technology in robotics Humanoid Robotics Domestic Robotics robot version robot+ control micro electric robot Underwater Industrial Robot Specifications Industrial Control Technology Laboratory Dual Pressure Control Technology GBT38559 GB/T 38559-2020 Latest version of technical specifications for work station equipment Industrial computer specifications and Industrial Conductivity Controller Industrial computer industry Robot standards Industrial computer incoming material inspection specifications Drone controller standards

《GB/T 38559-2020工业机器人力控制技术规范》由TC591（全国机器人标准化技术委员会）归口，主管部门为中国机械工业联合会。

Introduction

Industrial Robot Force Control Technology System Architecture

This standard constructs a complete technical framework including force/torque sensor selection, control strategy classification, and application scenario design. Its core parameter requirements are as follows:

Technical parameters	Typical indicators	Test methods
Force control accuracy	≤1% of range	GB/T 28854-2012 7.4.5
Response period	1-10ms	Control signal step test
Overload capacity	150%-300%	JB/T 7483-2005

Evolution analysis of force control strategies

The standard systematically divides the two major technical routes of indirect force control and direct force control for the first time:

Classic control stage (1990-2010): Passive adaptive technology represented by impedance control and stiffness control
Intelligent control stage (2010-present): Fusion application of AI algorithms such as neural networks and fuzzy control

Typical case: In a polishing scenario of an automotive component, indirect force control is used.

Sensor type	Insulation resistance	Temperature range
Resistive strain gauge	≥500MΩ	-30~85℃
Piezoelectric	≥10¹³Ω	-20~125℃

Safety implementation recommendations

Special requirements for collaborative robot scenarios:

Contact surface curvature radius ≥ 5mm (GB/T 36008-2018)
Single-point contact force ≤ 140N (human pain threshold)
Emergency stop response time < 50ms

More samples: GB 18306-2015 JJG 21-2008 DL/T 5154-2012

Sample only — not a preview of GB/T 38559-2020

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