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The practical aspects of the dynamical parameter identification method of an ABB IRB140 robot (off-line calibration procedure) are presented, such as identifiability, reduction to base parameters, inclusion of the measurements noise model and their influence on estimation uncertainty, scaling, and prior knowledge incorporation. A remarkable result is the calculation of the trajectories that provide a set of persistently excitatory signals of the dynamics in order to improve the estimation. The signals preprocessing is another relevant aspect since, to reduce the effect of noise, the excitation is limited in bandwidth and the derivatives of the joint positions are calculated in the transformed space.