Load parameter identification method, identification device, readable storage medium and robot

The invention provides a load parameter identification method and device, a readable storage medium and a robot. According to the load parameter identification method, the robot comprises a body, and the body can load a load; the body is used for driving the load to move, and the method comprises the following steps of obtaining a first dynamic model and a second dynamic model of the robot, wherein the first dynamical model is a dynamical model of the body, and the second dynamical model is a dynamical model of the body loaded with the load; determining a third dynamical model according to the first dynamical model and the second dynamical model, wherein the third dynamical model is a dynamical model of the load; controlling the robot to run according to kinetic parameters in the third kinetic model; collecting motion parameters of the robot in the motion process; and identifying a load parameter of the load according to the motion parameters. According to the method, the precision of identifying the load par