In this work, a planar manipulator in the vertical plane is considered. Starting from the manipulator kinematics, a dynamical model of the sensor and its tip is formulated. Then, identification experiments to estimate the unknown parameters of the sensor and tip dynamical model are designed. The presented identification procedure is oriented to minimize the noise effects on the estimate, by choosing parametrized experiments which are optimized considering a scalar valued information function of the collected data. The model is then used to make the sensor measurements more accurate. Finally, it is analyzed how to obtain the absolute value and the direction of the contact force. Note that by enhancing the quality of the force measurements, the application of robust position controllers provides improved performances.
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