Determination of inertial parameters of robot manipulators is often required for advanced control algorithms. The dynamic model， either in the form in inertial parameters or in the form in the minimal set of inertial parameters， is then used to determine this set of parameters experimentally. That is， for various trajectory of the robot， corresponding values of positions， velocities， torques and accelerations of the joints are measured. Based on these experimental values， the inertial parameters are then estimated by some kind of “best fit‘。 To use a dynamic model for control of a robotic system， one must be sure that the model closely matches the real dynamics. To enable a close match， the structure of the model should be capable of describing the relevant aspects of the physics and accurate values for the model parameters are needed. So far， a number of theoretical and experimental studies on estimating model parameters have been reported. Each exploits the well-known property that a model of the robot dynamics can be represented linearly in a minimum set of identifiable parameters.