Method, system and equipment for identifying inertial parameters of mechanical arm

The invention discloses a mechanical arm inertial parameter identification method, system and equipment, and the method comprises the steps: building a mechanical arm dynamic model, carrying out the linearization, and setting an excitation track; the mechanical arm is controlled to move along the excitation track in the no-load state, meanwhile, the first joint torque and the first joint motion state quantity of the mechanical arm are collected, and then the first joint inertia torque is separated from the first joint torque; the mechanical arm is controlled to move along the excitation track in the load state, meanwhile, the second joint torque and the second joint motion state quantity of the mechanical arm are collected, and then the second joint inertia torque is separated from the second joint torque; determining a correction coefficient of a motor torque constant according to the second joint motion state quantity, the first joint inertia moment and the second joint inertia moment; and according to the