Standard No.:	GB/T 38834.2-2023
English Name:	Robotics―Performance criteria and related test methods for service robots―Part 2:Navigation
Chinese Name:	机器人 服务机器人性能规范及其试验方法 第2部分：导航
Chinese Classification:	J28    Automatic logistics equipment
Professional Classification:	GB    National Standard
ICS Classification:	25.040.30 25.040.30    Industrial robots. Manipulators 25.040.30
Issued by:	SAMR; SAC
Issued on:	2023-08-06
Implemented on:	2024-3-1
Status:	valid
Language:	English
File Format:	PDF
Word Count:	8500 words
Price(USD):	255.0
Delivery:	via email in 1~3 business day

GB/T 38834.2-2023 Robotics - Performance criteria and related test methods for service robots - Part 2 : Navigation 1 Scope This document describes methods of specifying and evaluating the navigation performance of mobile service robots. Navigation performance in this document is measured by pose accuracy and repeatability, as well as the ability to detect and avoid obstacles. Other measures of navigation performance are available but are not covered in this document. The criteria and related test methods are applicable only to mobile platforms that are in contact with the travel surface. For evaluating the characteristics of manipulators, ISO 9283 applies. This document deals with indoor environments only. However, the depicted tests can also be applicable for robots operating in outdoor environments, as described in Annex A. This document is not applicable for the verification or validation of safety requirements. It does not deal with safety requirements for test personnel during testing. 2 Normative references The following referenced documents are indispensable for the application of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies. GB/T12643-2013 Robots and robotic devices – Vocabulary (ISO 8373: 2012, IDT) ISO 7176-13 Wheelchairs - Part 13 : Determination of coefficient of friction of test surfaces Note: GB/T18029.13-2008 Wheelchair - Part 13 : Determination of friction of test surface (ISO 7176-13:1989, IDT) 3 Terms and definitions For the purposes of this document, the terms and definitions given in GB/T12643-2013 and the following apply. ISO and IEC maintain terminological databases for use in standardization at the following addresses: - ISO Online browsing platform: available at https://www.iso.org/obp - IEC Electropedia : available at http://www.electropedia.org/ 3.1 robot programmed actuated mechanism with a degree of autonomy, moving within its environment, to perform intended tasks Note 1: A robot includes the control system and interface of the control system. Note 2: The classification of robot into industrial robot or service robot (3.4) is done according to its intended application. [Source: GB/T 12643-2013, 2.6, modified - The words “actuated mechanism programmable in two or more axes" have been replaced with “programmed actuated mechanism"] 3.2 mobile robot robot (3.1) able to travel under its own control Note: A mobile robot can be a mobile platform (3.3) with or without manipulators. [Source: GB/T12643-2013, 2.13] 3.3 mobile platform assembly of all components of the mobile robot (3.2) which enables locomotion Note 1: A mobile platform can include a chassis which can be used to support a load (3.6). Note 2: Because of possible confusion with the term “base”, it is advisable not to use the term “mobile base" to describe a mobile platform. [Source: GB/T 12643-2013, 3.18] 3.4 service robot robot (3.1) that performs useful tasks for humans or equipment excluding industrial automation applications Note 1: Industrial automation applications include, but are not limited to, manufacturing, inspection, packaging, and assembly. Note 2: While articulated robots used in production lines are industrial robots, similar articulated robots used for serving food are service robots. [Source: GB/T12643-2013, 2.10] 3.5 navigation deciding on and controlling the direction of travel, derived from localization and the environment map Note: Navigation can include path (3.14) planning for pose-to-pose travel and complete area coverage. [Source: GB/T 12643-2013, 7.6] 3.6 load force and/or torque at the mechanical interface or mobile platform (3.3) which can be exerted along the various directions of motion under specified conditions of velocity and acceleration Note: The load is a function of mass, moment of inertia, and static and dynamic forces supported by the robot (3.1) [Source: GB/T 12643-2013, 6.2.1] 3.7 rated load maximum load (3.6)that can be applied to the mechanical interface or mobile platform (3.3) in normal operating conditions (3.9) without degradation of any performance specification Note: The rated load includes the inertial effects of the end effector, accessories and workpiece, where applicable [Source: GB/T 12643-2013, 6.2.2] 3.8 rated speed maximum speed of mobile platform (3.3) equipped with rated load (3.7) in normal operating conditions (3.9) [Source: GB/T 38834.1-2020, 3.11] 3.9 normal operating conditions range of environmental conditions and other parameters which can influence robot performance (such as electrical supply instability, electromagnetic fields) within which the performance of the robot (3.1) specified by the manufacturer is valid Note: Environmental conditions include, for example, temperature and humidity. [Source: GB/T 12643-2013, 6.1] 3.10 task program set of instructions for motion and auxiliary functions that define the specific intended task of the robot or robot system Note 1: This type of program is usually generated after the installation of the robot and can be modified by a trained person under defined conditions. Note 2: An application is a general area of work; a task is specific within the application. [Source: GB/T 12643-2013, 5.1.1] 3.11 pose combination of position and orientation in space Note 1: Pose for the manipulator normally refers to the position and orientation of the end effector or the mechanical interface. Note 2: Pose for a mobile robot (3.2) can include the set of poses of the mobile platform (3.3) and of any manipulator attached to the mobile platform, with respect to the world coordinate system. Note 3: For mobile robots in contact with a flat surface, orientation is typically a scalar angle about the normal to the flat surface, with respect to a reference direction. [Source: GB/T 12643-2013, 4.5, modified - Note 3 has been added] 3.12 command pose programmed pose pose (3.11) specified by the task program (3.10) [Source: GB/T 12643-2013, 4.5.1] 3.13 attained pose pose (3.11) achieved by the robot (3.1) in response to the command pose (3.12) [Source: GB/T 12643-2013, 4.5.2] 3.14 path ordered set of poses (3.11) [Source: GB/T 12643-2013, 4.5.4] 3.15 cluster set of measured points used to calculate the accuracy and the repeatability characteristics [Source: ISO 9283:1998, 3.1, modified] 3.16 barycentre point whose coordinates are the mean values of a cluster (3.15) of points Note: For a cluster of n points defined by their coordinates (x; - y; - z), the barycentre of that cluster of points is calculated as follows: [Source: ISO 9283:1998, 3.2, modified] 4 Test conditions 4.1 General The robot shall be completely assembled, fully charged and operational, based on the manufacturer specification. All self-diagnostic tests should be satisfactorily completed. Appropriate precautions should be taken to protect the personnel during the test. The tests shall be preceded by the preparations for operation as specified by the manufacturer. These preparations shall be reported in the test report. All conditions specified in Clause 4 should be satisfied for the tests described in this document, unless it is stated otherwise in the specific clauses. Each test described in each clause of this document can have different test configurations which require separate test procedures. For each test configuration, multiple trials should be conducted if specified in the test procedure.