The invention discloses a real-time fault detection method and
system for an
industrial robot, and the method comprises the steps: obtaining state data of the
industrial robot in previous normal work, and calculating an average value [mu] and a
covariance matrix [sigma] of the state data; the method comprises the following steps: acquiring state data of an operating
industrial robot in real time every s seconds, taking W seconds as an acquisition period, and acquiring W / s times in the acquisition period; calculating a density
estimation value of each piece of state data in the current acquisition period through multivariate
Gaussian distribution obeying an average value mu and a
covariance matrix sigma; and finally, according to the density
estimation value of each piece of state data in the current acquisition period, judging whether the current industrial
robot breaks down or not. According to the method, real-time fault detection of the industrial
robot is realized, the computing resource overhead is low, high-accuracy fault detection can be realized without huge
deep learning model training, and the probability of occurrence of false alarms can be reduced by using an acquisition period.