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分析并推导了液压伺服型喷漆机器人的关节模型结构，在此基础上采用了一种有效的闭环参数辨识算法实现了机器人各关节的模型参数辨识。文中对闭环伪随机测试、参数估计、ｐｒｂｓ信号都作了详细的介绍，最后对该算法进行了计算机仿真分析并给出了试验得到的机器人前三个关节的模型参数。
The joint model structure of hydraulic servo painting robot is analyzed and deduced. Based on this, an effective closed-loop parameter identification algorithm is adopted to realize the model parameter identification of each robot joint. The closed-loop pseudorandom test, parameter estimation and prbs signal are introduced in detail in this paper. Finally, the algorithm is analyzed by computer simulation and the model parameters of the first three joints are given.