In response to the issue of the impact of robot dynamics on the control performance of robots, this paper constructs an identifiable industrial robot dynamics parameter model and uses the weighted least squares method to accurately identify the dynamics parameters, achieving accurate construction of the dynamics model. Firstly, linearize and integrate the parameters of the derived industrial robot dynamics equation expression to obtain a linear identifiable parameter model. Secondly, the D-H table is obtained according to the robot structure, the parameter set to be optimized is obtained using the toolbox, and the Fourier series excitation trajectory is set and optimized. Once again, without a load, the industrial robot executes the excitation trajectory, obtains the angle and torque signals of each joint of the robot, and performs filtering processing; Finally, by using the weighted least squares method to accurately identify the model parameters of the robot, the data of the dynamic minimum inertia parameter set is obtained. By verifying trajectory comparison analysis, the correctness of the identified model can be verified. This article uses identification algorithms to accurately identify the dynamic parameters of industrial robots and construct a more accurate dynamic model of the robot, in order to address the impact of its dynamic characteristics on the control characteristics of industrial robots.