Due to the importance to model-based control, an exact dynamic model of the manipulator is required. While the geometry structure of robot manipulators is well known, the involved dynamic parameters are not always available, since exact values are rarely provided by the robot manufacturers and often not directly measurable. Therefore, dynamic parameter identification of robot manipulators has aroused increasing interest from researchers. In this thesis project a UR5 robot manipulator from Universal Robots is used as case study for the identification scheme developing. The purpose is to provide Polytechnic University of Turin with a resource which can be used to determine dynamic parameters of robots in future works.