The embodiment of the invention relates to the technical field of
robot control, and discloses a method and a module for distinguishing a load of a six-axis
robot. The method for distinguishing the load of the six-axis
robot comprises the following steps: according to a preset parameter limiting value of each joint, generating an excitation track of the six-axis robot; when the six-axis robot carrying the load is controlled to run along the excitation track, collecting a parameter running value of each joint; according to the parameter running value of each joint and a preset robot dynamics model, calculating a torque predicting value of each joint; calculating a difference between the torque running value and the torque predicting value, the difference serving as torque produced by the load, and according to preset relationship of the torque produced by the load and a load
inertia parameter, calculating the load
inertia parameter. The embodiment of the invention also provides the module for distinguishing the load of the six-axis robot. The module for distinguishing the load of the six-axis robot disclosed by the embodiment has the
advantage that compared with the prior art, the parameter running value of the robot is collected on line, and the load
inertia parameter of the robot is distinguished; because a six-dimensional
force sensor is not used, the cost is reduced.