This paper presents the identification process aimed at estimating the model parameters of a COMAU Smart S2 industrial robot for controller design purposes. The principal challenges are given by the presence of a controller-in-the-loop, and the absence of sensors to measure joint accelerations and velocities. A method valid in this context has been applied, and suitable trajectories were generated in order to avoid to excite the unmodelled plant dynamic while allowing to compute analytically the joint velocities and accelerations. This method was then applied to a real 6 degrees of freedom (DoF) industrial robot, estimating and using its parameters to design new improved model-based controllers
