In this application the KUKA robot is interfaced with Orocos using the KUKA RSI (Robot Sensor Interface) technology.
[ Experimental robot and payload identification with application to dynamic trajectory compensation, W. Verdonck, PhD thesis, Mech. Eng. Dept., K.U. Leuven, Belgium, 2004],
[ Experimental robot identification using optimised periodic trajectories, J. Swevers, C. Ganseman, J. De Schutter and H. Van Brussel, Mechanical Systems and Signal Processing, Volume 10, Issue 5, September 1996, Pages 561-577],
[ Optimal robot excitation and identification, J. Swevers, C. Ganseman, D.B. Tukel, J. de Schutter, H. Van Brussel, Robotics and Automation, IEEE Transactions on Volume 13, Issue 5, Oct. 1997 Page(s):730 - 740],
[ An experimental robot load identi?cation method for industrial application, Swevers J., Verdonck W., Naumer B., Pieters S., Biber E., The International Journal of Robotics Research, 21(8):701–712, 2002].
More information is available on the author's webpage.