本发明涉及一种基于K‑S检验的机器人运行状态判断方法,属于机器人状态评估技术领域。本发明包括机器人基准周期信号建立,数据周期截取,当前机器人状态判断,异常程度及异常持续计算;可以对机器人运行状态进行监测,在运行异常时报警并给出异常程度和异常持续的判断。本方法已在工业机器人上进行过实验,实验表明本方法的精度较高,能够在机器人运行异常时准确的显示存在异常,并给出异常程度和异常持续。
The invention relates to a robot running state judgment method based on KS test, which belongs to the technical field of robot state evaluation. The method comprises the steps of establishing a robot reference period signal, intercepting a data period, judging the current robot state, and calculating the abnormality degree and the abnormality persistence; It can monitor the running state of the robot, give an alarm when the robot runs abnormally, and give the judgment of the degree and duration of abnormality. This method has been tested on an industrial robot, and the experiment shows that this method has high accuracy, and can accurately show the existence of abnormality when the robot runs abnormally, and give the degree and duration of abnormality.