Limiting method and device for robot and robot

The invention discloses a limiting method and device for a robot and the robot. The method comprises of acquiring actual movement condition of each joint of the robot; according to the actual movementcondition, and determining the actual movement space of each joint of the robot; judging whether the actual movement space meets the preset movement space limiting condition or not. According to thelimiting method and device for the robot and the robot, the technical problem that the robot cannot safely operate in the related technology is solved. 本发明公开了种用于机器人的限位方法和装置及机器人。其中，该方法包括：获取机器人各关节的实际运动情况；根据实际运动情况，确定机器人各关节的实际运动空间；判断实际运动空间是否满足预先设定的运动空间限位条件。本发明解决了相关技术中机器人无法安全运行的技术问题。