Szukana fraza: [Abstract = "This paper discusses practical problems of robot dynamics identification. The problems as well as possible solutions are illustrated by records from an experimental direct drive arm and a geared industrial robot. Questions regarding measurement noise, biased estimates, poor identifiability conditions, and the concepts of on\-line and off\-line identification are also discussed. The main contributions of the paper are a computationally cheap procedure for on\-line identifiability supervision and a scheme which permits to reduce the bias of the least\-squares estimator."]

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