| 摘要 |
The invention concerns a method, device, and computer program product for evaluating a static brake torque of a brake (20) for a robot joint as well as to a robot arrangement comprising such a device. The brake torque evaluating device (32) comprises a torque evaluating unit (36) configured to disable any integrating activity of the robot controller, activate the brake (20), obtain at least one brake test position of the joint, provide, after brake activation, the robot controller with a position command (pr) for ordering movement of the joint to a target position, obtain a joint position measurement (p) after the provision of the position command and determine if a static brake torque (Tbrake) of the brake fulfils or fails a static brake torque requirement using the position command (pr) and the joint position measurement. |
