As the use and relevance of robotics for countless scientific purposes grows all the time, research into the many diverse elements of the subject becomes ever more important and in demand. This volume examines in depth the most topical, complex issues of modelling and identification in robotics. The book is divided into three main parts. The first part is devoted to robot dynamics modelling and identification of robot and load parameters, incorporating friction torques, discussing identification schemes, and presenting simulations and experiment al results of robot and load dynamic...