Robot modal identification method and system based on joint multi-direction random motion

The invention belongs to the field of industrial robot dynamics, and particularly discloses a robot modal identification method and system based on joint multi-direction random motion, and the method comprises the following steps: applying an exciting force to a robot, enabling each joint of the robot to do random acceleration and deceleration motion, and collecting vibration signals of each joint of the robot in the process; the applied exciting force meets the conditions that each exciting force has at least three non-collinear directions, meanwhile, the exciting torque of each joint is different, and under the excitation of the exciting mode, the modal shape of the robot in each direction can be completely excited; and then vibration signals of all joints of the robot are processed, so that all-order modals of the robot are obtained through identification. According to the invention, complete, accurate and effective identification of each order mode of the robot can be realized. 本发明属于工业机器人动力学领域，并具体公开了一种基于关