Industrial robot joint axis deviation testing method

The invention relates to the technical field of robot performance testing, in particular to an industrial robot joint axis deviation testing method. The method specifically comprises the following steps of S1, determining a robot joint motion range; S2, adjusting the test pose of a robot; S3, mounting a joint axis deviation test target ball; S4, conducting data acquisition and verification; and S5, outputting a robot joint axis deviation calculation result. According to the method, the joint axis deviation of the industrial robot is quantitatively obtained based on a laser tracker, circle center fitting is conducted on the sensitivity of discrete data through the least square method, the testing process is convenient and fast, and the requirement for experiment testing personnel is low; and the industrial robot joint axis deviation quantitative testing method is output, so that the testing efficiency is high, and the accuracy is high. 本发明涉及机器人性能测试技术领域，具体是一种工业机器人关节轴线偏差测试方法，具体包括以下步骤：S1：机器人关节运动范围确定；S2：机器人测试位姿调整；