Industrial robot load parameter identification method, system and device and medium

The embodiment of the invention provides an industrial robot load parameter identification method, system and device and a medium, and the method comprises the steps: obtaining a first dynamic model of a robot through a discrete multi-body system transfer matrix method; determining a second dynamic model of the robot according to the first dynamic model; based on the second dynamical model, a load dynamical equation is established according to the joint motor characteristic parameters of the robot; planning a motion track of the robot, and collecting joint data of the robot when the robot operates according to the motion track in a no-load state and a loaded state; and processing the joint data, and based on the processed joint data, obtaining mass parameters of the load according to the second kinetic model and the load kinetic equation. The problem that an existing industrial robot tail end load identification method cannot achieve rapid identification is solved. 本说明书实施例提供了一种工业机器人负载参数辨识方法、系统、设备及介质，其中，方法包括：通