Method for quickly identifying end load of robot based on excitation track

The invention discloses a robot end load rapid identification method based on an excitation track, and belongs to the field of robot control, and the method comprises the steps: building a space coordinate system of a robot and a robot end load, and obtaining a comprehensive expression of gravity and inertia force; designing an excitation track of each joint at the tail end of the robot to change the tail end posture of the robot; data of the robot in different postures are collected, and various parameters of the tail end load of the robot are obtained through a least square method. According to the method, the load parameters of the tail end of the robot can be rapidly identified, the problems of low identification efficiency and poor precision are solved, and the method can adapt to current high-speed and high-precision force control industrial scenes. 本发明公开一种基于激励轨迹的机器人末端负载快速辨识方法，属于机器人控制领域，包括建立机器人和机器人末端负载的空间坐标系，获得重力和惯性力的综合表达式；设计机器人末端各关节激励轨迹，以此改变机器人末端姿态；采集机器人在不同姿态下的数据，通过最小二乘法得到机器人末端负载的各项参数。本发明可快速辨识机器人末端的负载参