A practical method of identifying the inertial parameters, viscous friction and Coulomb friction of a robot is presented. The parameters in the dynamic equations of a robot are obtained from the measurements of the command voltage and the joint position of the robot. First, a dynamic model of the integrated system of the mainpulator and motor is derived. An off-line parameter identification procedure is developed and applied to the University of Minnesota Direct Drive Robot. To evaluate the accuracy of the parameters the dynamic tracking of the robot was tested. The trajectroy errors were significantly reduced when the identified dynamic parameters were used.