Abstract: For structure design and dynamic control of industrial robots,without using the base force sensor that is required in existing methods,a method is proposed that takes full advantage of the signals from wrist force sensor,applies the recursion equations of kinematics and dynamics,and deduces the converse inertial parameters identification model of all links by Newton-Euler formula.An example is given to explain the application of the method.The theoretical basis is offered for dynamic modeling of manipulator.