Friction-considered six-degree-of-freedom industrial robot kinetic parameter identification method

The invention discloses a friction-considered six-degree-of-freedom industrial robot kinetic parameter identification method, and belongs to the field of robot dynamics. The method mainly comprises the following steps: constructing a kinetic equation of the six-degree-of-freedom industrial robot considering friction based on a Lagrangian method; carrying out linearization and parameter recombination on the six-degree-of-freedom industrial robotics equation; the method comprises the following steps: designing and optimizing an excitation track of a Freudenstein 1-3-5 six-degree-of-freedom industrial robot based on Fourier series expansion; position information and driving current of each joint of the six-degree-of-freedom industrial robot are collected and subjected to smooth filtering, and the speed, the acceleration and the sampling torque of each joint of the six-degree-of-freedom industrial robot are calculated; and solving the kinetic parameters by using an improved Harris eagle optimization algorithm. Ac