Fault detection method and device, electronic equipment, readable storage medium and robot

The invention provides a fault detection method and device, electronic equipment, a readable storage medium and a robot, and belongs to the technical field of robots. The fault detection method comprises the steps that in the operation process of the robot, actual vibration data of a target joint are collected; acquiring a first simulation model of the target joint, wherein the first simulation model is a simulation model of rotating speed and vibration data of the target joint; according to the actual vibration data and the first simulation model, at least two pieces of simulated vibration data are generated, and the at least two pieces of simulated vibration data are in one-to-one correspondence with the at least two pieces of fault information; and comparing the actual vibration data with the at least two pieces of simulated vibration data to determine target fault information in the at least two pieces of fault information. 本发明提出了一种故障检测方法、装置、电子设备、可读存储介质和机器人，属于机器人技术领域。故障检测方法包括：在机器人运行过程中，采集目标关节的实际振动数据；获取目标关