89 results about "Euler method" patented technology

The invention relates to an identification method of a kinetic model of a six-degree-of-freedom mechanical arm. The identification method comprises the steps of establishing a linear kinetic model of the mechanical arm according to joint friction by utilizing an improved Newton-Euler method first, then introducing a PSO (Particle Swarm Optimization) algorithm, establishing an algorithm for estimating unknown kinetic parameters on the basis of the improved PSO algorithm according to the concept of variation in a genetic algorithm at the same time, finally, using an UR (industrial robot) as an experimental subject, exciting joints of the industrial robot to move by designing an exciting track, and sampling joint movement parameters, so that the estimation of the kinetic parameters of the UR is realized, and the kinetic model is verified according to the moment prediction accuracy. Experiments verify the accuracy and effectiveness of the kinetic model, which is identified by the identification method, of the industrial robot.

The invention discloses an industrial robot torque compensation control method based on load adaptive identification. The industrial robot torque compensation control method comprises the steps that according to robot overall stress balance analysis, a robot dynamics model under the load working condition is established in a deduced mode through a Newton-Euler method on the basis of considering friction; the optimal excitation trajectory of robot load identification is solved; load inertial parameters are calculated; and on the basis of load inertia matching, joint driving torque consumed by the load when a robot moves under the load working condition is compensated, and further verification and optimization are conducted through experiments. According to the industrial robot torque compensation control method, the influences of the load on operation performance of the robot are considered, under the premise that no any external sensor is needed, adaptive identification of any load andtorque compensation control are completed through easy operation easy to achieve, the control precision of the robot under the load working condition is effectively improved, and very important significance for processes such as carrying and friction stir welding of the industrial robot under high-speed and large-load movement is achieved.

The invention discloses a manipulator dynamic model identification method based in an improved artificial bee colony algorithm. A manipulator linear dynamic model taking joint friction into consideration is established through utilization of an improved Newton-Euler method. A dynamic parameter identification algorithm is designed through importing of the improved artificial bee colony algorithm. An UR industrial robot is taken as an experiment subject; through design of a stimulation track, joint movement of the industrial robot is stimulated; the joint movement data is sampled; after torque is filtered, parameter identification is carried out through utilization of the improved artificial bee colony algorithm; the dynamic parameter estimation of the UR industrial robot is realized; and the dynamic model is verified according to the torque prediction precision. An experiment shows the accuracy and effectiveness of the industrial robot dynamic model the identified by the invention.

The invention provides a quadruped robot biped support phase force hybrid force control method. The method comprises the steps of (S1) projecting the overall movement of a robot to a radial plane and a normal plane, (S2) establishing a control model, simplifying the movement of the robot along the radial plane as a plane seven-connection-rod model, and simplifying the movement along the normal plane as a linear inverted pendulum model, and simplifying the plane seven-connection-rod model as a plane virtual telescoping leg model, wherein the control target of the plane virtual telescoping leg model is a mass center height, a body pitch angle and a horizontal displacement, (S3) carrying out hybrid controlling according to a control model, establishing the kinetic equation of the plane virtual telescoping leg model and establishing the kinetic equation through a Newton-Euler method, controlling the mass center height and the body pitch angle through a position servo method, and using the double-ring control method of outer ring position and inner ring foot end force for the horizontal displacement of a virtual telescoping leg plane model. The method has the advantages of good control effect and the improvement of robot adaptability.

The invention belongs to the technical field of identifying synchronous generator parameters, and relates to a method for identifying the synchronous generator parameters by an improved evolution algorithm. Starting from an randomly-generated initial generator parameter group, optimal solution is searched through generation of an initial group, fitness calculation, recombination, mutation and selection, and stopping operation according to operating principles of struggle for existence and survival of the fittest by using actual measurement data in a power management unit (PMU) in a wide area measurement system (WAMS); and an improved evolution strategy algorithm of biomimicry is taken as optimizing theoretical basis, the decoupling of a direct axis and a quadrature axis of the synchronousgenerator and steady state and transient state are processed separately, an initial practicable parameter group is established through design parameters, and a differential equation of a higher orderis calculated by selecting a high-precision improved Euler method, so that the output variable set by the generator is solved, the optimizing process is realized through recombination, mutation and selection of the initial group, and the synchronous generator parameters are identified. The method is simple and has a reliable principle, and the correctness of the parameter identification is high.

The invention provides a manipulator-boat coordination control method of an underwater unmanned vehicle and manipulator system. An underwater unmanned vehicle control system is built through such equipment as a PC 104, a data acquiring plate, a manipulator motor, a propeller impeller, a magnetic compass and a Doppler speed measurer; the gesture information of each degree of freedom of the system is obtained; meanwhile, the hardware control is performed; an internal disturbance force observer is built according to position postures of a vehicle and a manipulator; a tilting moment and a coupling moment generated by the system posture change at each time are observed according to a Newton-Euler method; a coordination motion controller of the vehicle and the manipulator is built; and the manipulator disturbance force suffered by the vehicle in the operation process is compensated during controlling to realize stable and precise control of the vehicle in the operation process. The method can be actually applied to the UVMS control system design, achieves important significance on the aspects of autonomous operation and remote control operation of an underwater robot, and is used for realizing stable high-precision operation of the underwater unmanned vehicle.

The invention discloses an equivalence model based discrete sliding mode control method for a hypersonic velocity aircraft and belongs to the field of aircraft control. The method is used for solving the technical problem that discrete adaptive control of existing hypersonic velocity aircrafts is difficult to implement in engineering. The method comprises the steps of firstly, converting a height subsystem model of the hypersonic velocity aircraft into a strict-feedback form, further establishing a discrete strict-feedback form of an original system through an Euler method, considering the causal sequence of the system, establishing an equivalence model of the original system, using the equivalence model to analyze historical information of the uncertainty of the system, using the historical information for design of a sliding mode controller, and designing the controller according to backstepping method strategies through error feedback by using a nominal system. According to the method, characteristics of computer control are combined, non-causal problems are effectively avoided through the controller which is obtained through model conversion, and the height and the velocity of the hypersonic velocity aircraft can be tracked without adaptive estimation strategies which are complex in design.

The invention provides a method for improving the identification precision of kinetic parameters of a modularized robot joint, and the method comprises the steps: carrying out the kinetic modeling through a Newton-Euler method, and enabling an improved Fourier series motivation track to be applied to a device for improving the identification precision of the kinetic parameters of the modularized robot joint; collecting an angle value, an angular speed value and a moment value through a sensor unit; carrying out the differential operation through the angular speed measured by a tachometer, obtaining an angular acceleration value, and carrying out the preliminary processing of information; carrying out the parameter estimation, and substituting parameters into a kinetic equation for estimating the kinetic parameters. The method employs the multi-sensor fusion technology, achieves the direct real-time measurement of the angles of a joint end and a motor end through two absolute coders, and improves the safety of a device. The mode of direct measurement reduces the calculation burden of a control unit, thereby facilitating the implementation of the real-time control, solving problems of interference and error increase caused by the indirect measurement, and improves the parameter recognition precision.

The invention relates to a composite material mechanics property evaluation method based on three-dimensional microcosmic crystal whisker composition, and belongs to the field of composite material mechanics. According to the method, an Euler method and a Monte Carlo method are combined, and the mechanics property of reinforced composite materials can be pre-estimated based on a space random three-dimensional crystal whisker microcosmic configuration. The microstructure of crystal whiskers is comprehensively represented, the number of the crystal whiskers, the length of pins and the space random distribution status are fully considered, and the composite material mechanics property evaluation method has the advantages that crystal whisker unit generation efficiency is high, pre-estimated mechanics parameters are accurate, and the method is easy and convenient to use. Qualitative research can be provided for stiffness analysis and a stress distribution law of tetrapod-like crystal whisker reinforced polymers, and the method can be popularized and applied to the effective elastic property, mesomechanics analysis and microscopic damage failure numerical calculation of the randomly-distributed crystal whisker reinforced composite materials, and has obvious advantages compared with a two-dimensional method.

The invention discloses a physical and non-physical mixture-based complex scene fluid-solid coupling efficient simulation method. The method comprises the steps of 1) performing incompressible fluid simulation, combining an Euler method and a Lagrange method, and proposing an implicit particle method-based zero-divergence smooth particle fluid dynamics method; 2) performing dynamics problem solving in fluid-solid coupling, subdividing a motion problem of a simulation object into three sub-problems according to object attributes, and solving the three sub-problems by using different methods respectively to realize a multi-dimensional classification combination computing framework; and 3) combining a strain energy density concept in fracture mechanics with Voronoi spatial segmentation to realize a physical perception-based crushing method. The simulation efficiency problem difficult to solve in complex fluid-solid coupling scene simulation is solved. Compared with a conventional fluid-solid coupling method, the method can simulate a fluid scene with richer details under the same system resources, and can meet the demand of simulating solid crushing under fluid impact.

The invention discloses an industrial robot force / position compliance control method based on kinetic parameter identification. The method comprises the following steps that a kinetic equation with africtional force model is established by a newton-euler method; kinetic parameters are divided into connecting rod kinetic parameters and load kinetic parameters; an impedance control algorithm is putforward on the basis of an identified complete kinetic model to achieve the force / position compliance control; and the connecting rod kinetic parameters and the load kinetic parameters are identifiedthrough a robot experiment platform, and the impedance control algorithm is verified. The industrial robot force / position compliance control method based on kinetic parameter identification achievesthe force / position compliance control of the tail end of an industrial robot, the connecting rod kinetic parameters and the load kinetic parameters are identified through the six-connecting-rod robotexperiment platform, the impedance control algorithm is verified, the largest position error which is 0.05mm is generated when the robot passes through the track with an obstacle, and the practicability and the reliability of an impedance controller based on the kinetic model are verified.

The invention discloses a friction welding process heat flow microstructure multi-physical field numerical calculation method, which comprises a first step of building a heat flow coupling numerical model: performing temperature and flow field full coupling calculation by using an Euler method which takes temperature into account so as to obtain the size and distribution ofthe temperature and the flow field at any time during a workpiece welding procedure; a second step of performing microstructure transformation calculation by using a Leblond phase transformation model and algorithm so as to obtain phase transformation tissue distribution; a third step of building a heat flow microstructure coupling numerical model based on the obtained temperature, flow field and the phase transformation distribution, and calculating a workpiece plastic zone and stress-strain during the welding procedure. When the method disclosed by the invention is used for simulating a friction welding process, a simulation result can be obtained efficiently and exactly, and the fit degree to an actual friction welding process can be increased.

The invention relates to a method for controlling motion of a bionic long-fin undulatory propeller. The method comprises the following steps: aiming at different motion modes of the long-fin undulatory propeller, setting a corresponding control parameter and an initial value; iteratively solving a differential equation of a central pattern generator model by utilizing an Euler method according to the input control parameter and the initial value; calculating a swinging angle of each fin on the long-fin undulatory propeller by utilizing an output amplitude value of the central pattern generator model in the iterative calculation process; and converting the swinging angle into the control quantity of a steering engine for coordinating and controlling a plurality of steering engines on the long-fin undulatory propeller through a pulse width modulation wave generator to enable the long-fin undulatory propeller to generate undulatory motion with stable and continuous rhythm and realize forward, backward, emergent stop, turning and rapid startup. The method is simple, reliable and easy to realize, has small calculation quantity and can meet the real-time requirement of coordinating and controlling a plurality of circuits of the steering engines of the long-fine undulatory propeller.

The invention discloses a fabric deformation simulation method which, based on the classic spring-mass model, introduces the concept of a semi-rigid spline, and takes into full consideration of stretching property, compressing property, cutting property, bending property and surface roughness of the fabric, and effectively addresses the problem of anisotropy and superelasticity in fabric deformation simulation, and increases real sense of fabric deformation simulation. In aspect of numerical integration, compared with traditional explicit euler method and implicit euler method which have defects of slow solution speed, the method of the invention Verlet integration method which has substantial increase in velocity and computing stability. In aspect of collision treatment, the method further simplifies a collision model, and only considers collisions of "top pint-triangle" type and "edge-edge" type that occur in large amount in fabric simulation, which effectively reduces times for collision treatment and accelerates computing velocity.

The invention provides a double-rigid-body characteristic point saturation fixed time relative pose tracking control method. The method comprises the steps: establishing a pose kinetic equation of a tracker and a target device based on a Newton-Euler method; establishing a relative pose kinetic equation considering model uncertainty according to the established respective pose kinetic equations ofthe two rigid bodies and the relative pose and the relative speed between the two rigid body feature points; designing a fixed time disturbance observer according to the established relative pose kinetic equation; designing a non-linear saturation compensator according to the established fixed-time non-singular terminal sliding variable so as to solve the saturation effect of an actuator; and combining the established fixed-time disturbance observer and the nonlinear saturation compensator to obtain a model-based robust adaptive controller. The invention relates to the field of control of anautonomous moving body in a three-dimensional space and spacecrafts.

The invention discloses a power system transient stability simulation method based on explicit numerical integration, which is suitable for a generator to adopt a second order model, and overcomes the shortcomings of a conventional power system transient stability numerical integration method that the computing quantity is large and the computing speed can not meet the on-line computing requirement of a power system. Compared with the conventional power system transient stability numerical integration method, in the power system transient stability simulation method provided by the invention,the characteristic that analytical expression exists in a second derivative d<2>Delta / dt<2> of a power angle Delta is utilized to deduce the explicit second-order single-step integration formula of the motion equation of a generator rotor, which has the local truncation error of O(h<3>), and the computing quantity is equivalent to the explicit Euler method with the local truncation error of O (h<2>); and the characteristic that when the generator adopts the second order model to describe, only the power angle is required to be obtained during solving the network algebraic equation set is alsoutilized, and the differential-algebraic equation is only required to be solved at one time in each integration step. By adopting the invention, the speed of the transient stability simulation computation based on explicit numerical integration is remarkably increased, and the method is equivalent to half of the improved Euler method.

The invention discloses an equation-free multi-scale simulation method in chemical reaction diffusion. The method comprises the following steps of: establishing a small-scale model, i.e. a lattice Boltzmann model, on the basis of mesoscopic scale, wherein the small-scale model can truly approach reaction diffusion systems; respectively constructing coarse-grained time steps to the reaction diffusion systems of Schlogl and Selkov; and coupling an Euler method in a traditional numerical technology and the coarse-grained time steps of the reaction diffusion systems of Schlogl and Selkov into the coarse-grained projection integration of the reaction diffusion systems of Schlogl and Selkov so as to realize the multi-scale simulation of concentrations in constant steady states with different projection durations and evolution durations, and comparing with direct lattice Boltzmann simulation, wherein the concentration value of a macro system is fitted by adopting a least square method. The invention successfully avoids the procedure of acquiring a reaction diffusion model equation from the small-scale model and improves the operational efficiency of the direct lattice Boltzmann simulation, thereby providing a new idea for reaction diffusion simulation research which has difficulty in equation resolution on a macroscopic scale and has gigantic calculated amount of direct simulation on a small scale.

The invention discloses an arbitrary Lagrange Euler method based on the multi-dimensional Riemann solution. The method is used for solving two-dimensional compressible fluid mechanics equation sets and relevant issues based on the same. The arbitrary Lagrange Euler method based on the multi-dimensional Riemann solution includes: grid generation and physical quantity initial distribution; determination of a strategy and a manner of grids at a next moment; determination of a two-dimensional Riemann solution implement algorithm of grid cell frontier flux; expression form of the grid cell frontier flux; acquisition of a numerical method of a calculation result at the next moment. The novel two-dimensional Riemann solution implement algorithm for determining the grid cell frontier flux is provided, conditions such as proneness to distortion of grids, instability of numerical value impact waves and the like resulted from a traditional one-dimensional Riemann solution can be overcome, and the defect that an existing two-dimensional Riemann solution method is too complicated to implement is corrected. The arbitrary Lagrange Euler method based on the multi-dimensional Riemann solution is a simple, robust and precise numerical algorithm component, suitable for numerical simulation of multimedium large-deformation problems, and further suitable for currently popular forms of finite differences, finite volume and finite element methods.

The invention discloses an adaptive variable-step integration method for global energy Internet operating characteristic simulation. According to the method, influence factors of energy, politics and economy are extracted, rate variables and state variables are determined according to the causality between all the influence factors, a macroscopic operating characteristic causal graph of global energy Internet is established, historical data of the influence factors of different types is subjected to standardization processing, all the variables are selected in sequence, all variable sets pointing to the variables is searched for, an algebraic equation between the variables is determined according to the historical data, construction of a mathematical formula between system variables of the global energy Internet is completed, the equation is subjected to differencing processing, an improved Euler method is adopted to perform iteration before an emergency happens, a fourth-order Ronge-Kutta method is adopted to perform iteration after the emergency happens, simulation prediction is performed with an adaptive step, and macroscopic operating characteristics of the global energy Internet are predicted and deduced.

The invention discloses a dynamics modeling method of an over-constrained heavy parallel machine tool applied to real-time control, and belongs to the technical field of machine tool manufacturing. The method includes confirming positions, speed and accelerated speed of driving joints according to the structure of the machine tool, and confirming positions, speed and accelerated speed of component mass centers; building a speed relation between a movable platform and the driving joints; building force balance equations and torque equations of components of the over-constrained heavy parallel machine tool by means of a Newton-Euler method; according to structure parameters of the over-constrained heavy parallel machine tool and axial deformation situation of rod pieces of a branch chain, building a coordination equation of output errors between deformation and the movable platform; and finally combining the force balance equations, the torque equations and the coordination equation and building a dynamics model. The method takes the deformation of a connecting rod with poor rigidity of the heavy parallel machine tool into consideration and solves the problem that a traditional rigid body dynamics model is low in precision, and the built dynamics model meets real-time calculation requirements of a control system.

The invention discloses a quasi-steady state variable step simulation method applicable to a long time scale in a power system, belonging to the field of simulation technology of power systems. The method comprises the steps of firstly establishing a quasi-steady state simulation model of the system, performing load flow calculation on the power system to obtain a steady state value of each variable, and then selecting a numerical integration method according to the state of the system, wherein when the system is in a quick change phase, an improved Euler method of a fixed step is adopted for solving; and when the system is in a slow change phase, an implicit trapezoidal integration method of a variable step is adopted for solving. The method improves the quasi-steady state simulation speed of the power system, also improves the stability of the numerical algorithm, and overcomes the defects of the quasi-steady state simulation method for the long time scale in the power system.

The invention relates to a method for enriching flame simulation details through a turbulence equation. The method comprises the steps that (1) an Euler method based on a grid is adopted, a Navier-Stokes equation is solved in an accelerated mode through a CUDA, and a speed field of flames, a density field of the flames and a temperature field of the flames are obtained; (2) the standard k-e turbulence equation is simplified by the adoption of the particle method, and the CUDA is used for accelerating solving to obtain the turbulence energy and the energy dissipation rate of a particle; (3) a narrowband random texture field is generated, then the rotation is solved to obtain the speed field, and sampling is conducted in the random speed field according to the position of the particle to obtain the speed of the position where the particle is located; (4) the turbulence speed of the particles is synthesized, then the speed is used for disturbing the speed of the positions of network nodes in a neighborhood of the particle at the Gauss attenuation weight, and the density field and the temperature field are driven to move; (5) the CUDA and mapping of a buffer area of an OpenGL are used for directly rendering a data field worked out by the CUDA, and flame surface patches are obtained.

This invention relates to, in order to numerically analyze contaminant transport in groundwater, a method of analyzing contaminant transport under Cauchy boundary conditions using an improved Lagrangian-Eulerian method, wherein problems of a conventional Lagrangian-Eulerian method able to analyze only high Peclet numbers are solved, and which is configured to analyze a new numerical matrix constructed in such a manner that a Eulerian method is applied to an element adjacent to Cauchy boundary conditions and a conventional Lagrangian-Eulerian method is applied to an internal element, thereby enabling accurate numerical analysis of contaminant transport at various Peclet numbers including not only high Peclet numbers but also particularly low Peclet numbers under Cauchy boundary conditions.

The invention relates to the technical field of robot drive and control integrated systems, and discloses a self-adaptive modeling method for a robot drive control integrated system. The method comprises the following steps of 1) obtaining a kinematic model and kinetic parameters of each joint of a robot according to a design model of the robot; 2) calculating an issued torque by means of a Newton-Euler method according to an inverse kinetic model and a current planned position, velocity and acceleration; 3) by means of a dimensionality reduction method, conducting dimensionality reduction onthe robot drive control integrated system into an N-order system to obtain a state equation of the system; 4) setting an adjustable self-adaption law, conducting optimization through a deep learning algorithm, and selecting an exponential acceleration and deceleration curve as an excitation trajectory. The kinetic parameters of the joints of the robot are considered, the dynamic performance of therobot is combined, integrated modelling is conducted on the robot drive and control integrated system, accurate matching of the model is achieved, and it is proved that the self-adaptive modeling method for the robot drive control integrated system is effective.

The invention relates to an accurate interface tracking processing method coupled with a Lagrange mass point and an Euler method, and belongs to the field of computational explosion mechanics. The method comprises the steps of 1, creating a simulation model for a to-be-analyzed object, and performing initialization setting on the created simulation model; 2, calculating an artificial viscosity value, a stress tensor and a grid speed updating amount of the grid in each set time step; 3, determining a topological relation between the grids and the mass points so as to realize mapping of physicalquantities of the grids to the mass points; 4, determining the moving position of the mass point; 5, determining a topological relation between the moved mass points and the grids so as to map the physical quantities of the mass points to the grids; 6, calculating a state equation and a control equation corresponding to the simulation model; and 7, updating the physical quantities of the grids and the particles of the simulation model at the boundary of the computational domain. According to the method, the large deformation and dynamic damage process of the material is well processed, and accurate numerical simulation calculation of explosion and impact problems is effectively achieved.

The invention discloses a gas extraction drilling machine modeling method based on multi-body dynamics, and provides a novel gas extraction drilling machine modeling method, which belongs to the technical field of drilling machine modeling, and comprises the following steps of: 1, regarding the joint of a drill bit, a hole wall and a drill rod as a rigid body, and modeling the rigid body by adopting a Newton-Euler method, 2, regarding each drill rod as a flexible body, and modeling each drill rod through a second-class Lagrange equation, 3, considering the influence of a vibration friction andother factors on the system, and establishing a rigid-flexible coupling multi-body dynamic model of the drilling machine-drilling rod-hole wall system in the medium-short horizontal section of the soft coal by utilizing a floating node coordinate method, and 4, discretizing the model by adopting a finite element method, and solving the mathematical model by adopting a virtual prototype technology. The model can simulate a series of dynamic responses of a drilling machine system in the drilling process, and theoretical support is provided for subsequent multi-factor coupling modeling.

The invention discloses a method and a device for quickly determining permeability functions of unsaturated soil. The method comprises the following steps: carrying out discretization and inverse solving on a partial differential equation of a basic soil water movement equation Richards by applying a forward Euler method and a backward Euler method to obtain two permeability coefficient expressions of the unsaturated soil; then measuring a series of data that the volumetric water content theta t at detla z in a sample and tension ht change along the time through a constant water head one-dimensional vertical unsaturated infiltration test; substituting experimental data into obtained two expressions; combining calculation results of the two expressions to quickly and accurately obtain the permeability functions of the unsaturated soil. The experimental device comprises a sample cylinder body, a measuring system, a water supply system and a water collecting system; the water supply system is used for providing constant water head water source required by the test; the water collecting system is used for collecting and measuring water yield; the measuring system comprises a sensor for measuring the theta t and the tension ht and an automatic acquiring device for acquiring data; the sensor is buried at a fixed position delta z inside the sample cylinder.

The invention discloses a trajectory tracking control method for an unmanned autonomous vehicle. The trajectory tracking control method is specifically implemented according to the following steps: establishing a two-degree-of-freedom kinematics model of the unmanned autonomous vehicle; constructing a trajectory tracking controller based on nonlinear model predictive control, and adding a single-step Euler method into a predictive model of the controller; designing a constraint equation of the nonlinear model predictive controller, and establishing a target function based on the minimum difference value between the control trajectory output of the nonlinear model predictive controller and the reference trajectory; and solving the input of the unmanned autonomous vehicle according to the minimum objective function. A proposed nonlinear model predictive controller can track a reference trajectory more quickly, and has a smaller fluctuation error and a smoother trend in the tracking process. The control method provided by the invention can effectively improve the driving stability and safety of the vehicle, and has great significance for trajectory tracking control of the unmanned vehicle.

The embodiment of the invention is suitable for the technical field of robots, and discloses a robot dynamics parameter identification method and a device, a terminal device and a computer readable storage medium. The method comprises the following steps of establishing an inverse dynamics model of the robot through a newton euler method; performing coefficient extraction operation in the inversedynamics model, establishing an observation matrix; controlling all joints of the robot to move according to the pre-generated excitation trajectory, recording the joint movement data of the related sections of the robot; and carrying out dynamics parameter identification according to the joint movement data, the observation matrix and the inverse dynamics model. According to the embodiment of theinvention, the robot is regarded as a whole to carry out dynamic parameter identification, error accumulation in the single-joint identification process is avoided, and the identification precision of the dynamics parameters is improved.