A Review of Fault Diagnosis Methods of Robot Joint Servo System

Robot joint servo system is the key part of robot. The failure of the joint servo system will affect the working efficiency of the robot or damage the robot, causing irreparable damage. Therefore, it is of great significance to the fault diagnosis of robot joint servo system. This paper analyzes demagnetization fault, interturn short circuit fault and rotor eccentricity fault of the servo motor, as well as sensor fault and inverter fault of the servo drive system. The fault diagnosis methods based on signal processing and artificial intelligence proposed in recent years are summarized, and their advantages and disadvantages are discussed. Finally, the future development trend of joint servo system fault diagnosis technology is given.