Online robot parameter identification method based on inertia measurement instrument

The invention provides an online robot parameter identification method based on an inertia measurement instrument. The online robot parameter identification method based on the inertia measurement instrument comprises the following steps: (1), a robot kinematics model is established for connecting joints of a robot with gestures of the robot; (2), the inertia measurement instrument is used for measuring the gestures of the robot, and quaternion algorithm (FQA) is combined with Kalman filtering (KFs) to estimate gesture data, thereby acquiring stable gestures of the robot; and (3), the gestures of the robot are used for identifying robot parameters. By combining the quaternion algorithm (FQA) with the Kalman filtering (KFs) to estimate the gesture data, the stable gestures of the robot are acquired, and the robot parameters are estimated by utilizing the gestures of the robot.