Industrial robot kinetic parameter step-by-step identification method based on improved genetic algorithm

The invention discloses an industrial robot dynamical model parameter step-by-step identification method based on an improved genetic algorithm, which relates to the field of robots and comprises equivalent simplification and step-by-step identification of a robot dynamical model so as to improve the efficiency and precision of dynamical model identification. The excitation trajectory is optimized according to the improved genetic algorithm to ensure that the optimization time is shortened while the set constraint conditions are met; according to the step-by-step mixed identification method for the Stribeck friction model, the coefficient of the Stribeck friction model is effectively identified, then the Coulomb viscous friction model in the linearized kinetic model is replaced, and the model precision of the kinetic model in the low-speed section is improved. According to the method, the kinetic parameters can be efficiently and accurately identified in an off-line mode. 本发明公开了一种基于改进遗传算法的工业机器人动力学模型参数分步辨识方法，涉