机器人动力学参数辨识方程随着关节的增多变得更加繁琐，关节数超过 4 个后，甚至难以获得准确的参数辨识方程． 为此，文中提出一种分步辨识的方法． 该方法每次辨识的惯性参数较少，辨识方程相对简单，计算量小，辨识累计误差小，能很好地实现对超过四自由度的关节机器人动力学参数的辨识． 文中还以某型六自由度关节机器人为对象，设计了辨识实验，对分步辨识方法进行了验证． 结果表明:在保有机器人关键动力学特性的情况下，文中方法能简单而有效地获得机器人的关键动力学参数．

As the identification equations for robots’dynamic parameters become very complicated with the increase of joints，it is difficult to obtain accurate equations of dynamic parameters when a robot is of more than four joints．In order to solve this problem，a step-by-step identification method is proposed． In this method，less inertial parame-ters should be identified in each step，which results in simpler identification equation，more efficient calcu-lation and smaller accumulative error． Therefore，the parameter estimation can be achieved quite well for the robots with more than four joints． In order to validate the effectiveness of the proposed step-by-step identification method，a robot with six degrees of freedom is taken as an object to conduct the corresponding identification experiments．The results demonstrate that the proposed method is a simple but effective way to obtaining the key dynamic parame-ters of robots without changing their key dynamic characteristics．