Joint stiffness testing method for collaborative robot

The invention discloses a joint rigidity testing method for a collaborative robot, and relates to a method for testing joint rigidity. The invention aims to provide the joint rigidity testing method for the collaborative robot, which is simple and low in cost. The joint rigidity testing method for the collaborative robot comprises the following steps that S10, a testing model is built; s20, a load is placed on the large arm, two points P1 and P2 are selected on the large arm, and the distances X1 and X2 from the two-axis joint axis and the falling distances A1 and A2 are recorded; s30, establishing a finite element simulation model of the big arm, and simulating the displacement positions B1 and B2 of the P1 point and the P2 point of the big arm under the action of a load; s40, judging whether ((A1-B1)/(A2-B2)-X1/X2)/(X1/X2) is smaller than or equal to 10% or not, if not, repairing and optimizing the method tested in the step S20 to improve the test accuracy, optimizing the simulation model in the step S30 to