Method and system for identifying modality of robot by using current signal of joint motor

The invention discloses a method and a system for identifying a robot modal by using a joint motor current signal, and belongs to the field of robot dynamics, and the method comprises the following steps: exciting a robot structure by using an inertia force in the acceleration and deceleration motion process of a mechanical arm of a robot, and identifying the modal of the robot under the action of the exciting force; and the robot structure can generate corresponding vibration response. And meanwhile, current signals of joint motors are collected, the current signals are processed based on the OMA theory, and the mode of the robot is identified. Compared with an existing method for identifying the mode of the robot by using a vibration signal, the method for identifying the mode of the robot by using the current signal of the joint motor is proposed for the first time, so that the mode of the robot in the machining process can be analyzed in real time, the mode parameters of the robot in different poses can b