Aiming at safety problems caused by abmormal collisions during robot force/position hybrid control,a collision detectionscheme based on rapid dynamies identification is proposed. Firstly, a rapid robot dynamics identification model is formulated. Thesimplest trigonometrie funetion regression matrix of the robot joint gravity moment is sorted based on Lagrangian method, and thecontinuous friction molel is used to model the joint friction. Then, both the minimum parameter set of the gravity moment and theparameler set of the continuous frietion model of the rmobot joint are identified by least square method. Finally,rapid dynamieidentifieation and collision detection experiments of the robot are designed and completed to evaluate the effectiveness of the proposedmethod. Results show that the proposed method can quickly and effeetively identify the dynamie paramelers of the robot. The abmomalcollisions above 4 N-m in position control and 8 N.m in force control can be detected in real time, which effectively guarantees the safetyof operators and equipment and has certain engineering reference value.