Robot fault detection method and device, storage medium and robot

The invention provides a robot fault detection method and device, a storage medium and a robot, and relates to the technical field of robots. The fault detection method of the robot comprises the following steps: establishing a joint simulation model of the robot; fault data of the joints of the robot in the fault state are obtained; determining an actual noise spectrum according to the fault data; inputting the fault data into a joint simulation model, and obtaining a simulated noise spectrum through the joint simulation model; and determining target fault information according to the actual noise spectrum and the simulated noise spectrum. 本发明提供了一种机器人的故障检测方法、装置、存储介质和机器人，涉及机器人技术领域。机器人的故障检测方法包括：建立机器人的关节仿真模型；获取机器人的关节在故障状态下的故障数据；根据故障数据确定出实际噪声频谱；将故障数据录入关节仿真模型，通过关节仿真模型得到模拟噪声频谱；根据实际噪声频谱和模拟噪声频谱确定出目标故障信息。