Robot servo parameter self-adaption method and system based on kinetic model

The invention relates to the technical field of robots, in particular to a robot servo parameter self-adaption method and system based on a kinetic model, and the method comprises the steps: obtaining the overall actual kinetic parameters of a robot; theoretical kinetic parameters of the robot body are obtained; the mass, the mass center position and the inertia tensor information of the load are obtained; importing into a robot dynamic model; carrying out online calculation to obtain the joint inertia of the robot; robot joint torque feedforward is obtained through online calculation; calculating and obtaining relevant parameters of a position ring and a speed ring of the servo; actual torque is output to the robot body through a servo motor; and the robot body moves through the torque applied in the step S8. According to the method, the defects that a traditional joint inertia online identification algorithm is highly dependent on the acceleration of a moving track, the updating speed of an identification r