It is dealt with a method of inertial parameters identifying of robot links based on base force sensor. 1) According to Newton-Euler formula

steps of the method are put forward

and for the reason of simplification

a static method of identifying the mass and the three-dimensional coordinates of links’ mass center is investigated. 2) A simulation of a two links’ robot shows that the method is effective. The inertial parameters obtained by using the given method include the joint’s characteristics of robot

so the joint’s characteristics modeling is doesn’t needed.