Method And Control System For Determining Dynamic Friction Torque, And Industrial Robot

A method for determining a dynamic friction torque of a frictional brake device of a joint of an industrial robot, the method including performing a disengaged brake movement of an electric motor of the joint while the brake device is disengaged; determining a disengaged brake torque value based on a torque reference of a control loop of the electric motor during the disengaged brake movement; performing an engaged brake movement of the electric motor while the brake device is engaged; determining an engaged brake torque value based on a torque reference of the control loop during the engaged brake movement; and determining the dynamic friction torque of the brake device based on a difference between the engaged brake torque value and the disengaged brake torque value. A control system and an industrial robot are also provided.