本发明公开了一种工业机器人运行状态监测的传感器布局方法，采用启发式顺序布置法获取最优目标值下的传感器布点，能够快速得到实现工业机器人运行状态监测的传感器布点位置，将机器人学与概率模型相结合，解决了判断传感器布点优劣的问题，解决了工业机器人领域传感器布点只能依据经验的问题，同时为工业机器人故障诊断与健康评估提供了数据采集的基础。 

The invention discloses a sensor layout method for monitoring the running state of an industrial robot. The heuristic sequential layout method is used to obtain the sensor layout under the optimal target value, and the sensor layout position for realizing the monitoring of the running state of the industrial robot can be quickly obtained. The combination of probabilistic models solves the problem of judging the pros and cons of sensor placement, solves the problem that sensor placement in the field of industrial robots can only be based on experience, and provides the basis for data collection for industrial robot fault diagnosis and health assessment.