Robot joint fault diagnosis method and device, electronic equipment and storage medium

The invention provides a robot joint fault diagnosis method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the parameter information of a robot joint, and the parameter information comprises the data of each encoder in the robot joint and the data fluctuation range; performing connection fault diagnosis on the encoders according to the data fluctuation range of each encoder in the robot joint to obtain a first diagnosis result; according to the data of a first encoder, the actually measured initial position of a motor in the robot joint is determined, the estimated initial position of the motor is determined, and the first encoder is an encoder connected with the motor; and according to the actually measured initial position, the estimated initial position of the motor and the first diagnosis result, performing connection fault diagnosis on the motor to obtain a fault diagnosis result of the robot joint. The fault diagnosis process provided by the inventio