In this paper we present a novel algorithm to solve the robot kinematic
structure identification problem. Given a time series of data, typically
obtained processing a set of visual observations, the proposed approach
identifies the ordered sequence of links associated to the kinematic chain, the
joint type interconnecting each couple of consecutive links, and the input
signal influencing the relative motion. Compared to the state of the art, the
proposed algorithm has reduced computational costs, and is able to identify
also the joints' type sequence
