METHOD AND CONTROL SYSTEM FOR DETERMINING DYNAMIC FRICTION TORQUE, AND INDUSTRIAL ROBOT

The present invention provides a method for determining a dynamic friction torque of a frictional brake device (40) of a joint (20) of an industrial robot (10). The method comprises performing a disengaged brake movement of an electric motor (34) of the joint (20) while the brake device (40) is disengaged; determining a disengaged brake torque value based on a torque reference (72) of a control loop (52) of the electric motor (34) during the disengaged brake movement; performing an engaged brake movement of the electric motor (34) while the brake device (40) is engaged; determining an engaged brake torque value based on a torque reference (72) of the control loop (52) during the engaged brake movement; and determining the dynamic friction torque of the brake device (40) based on a difference between the engaged brake torque value and the disengaged brake torque value. A control system (16) and an industrial robot (10) are also provided. 本公开提供了一种确定工业机器人(10)的关节(20)的摩擦制动设备(40)的动态摩擦力矩的方法，方法包括：当制动设备(40)被松开时，执行关节(2