The presented dissertation describes a workflow for the modelling, identification, and experimental validation of a robotic manipulator, with the aim of testing its capability to detect external collision. Starting with the theoretical formulation, the dynamic equations of a 2-DOF manipulator were derived using the Euler-Lagrange method and validated through numerical simulations in Simscape. Later, the study was extended to more complex structures, including the Parallelogram Arm and the PRRR manipulator, addressing the challenges of closed-chain kinematics through an energy-based generalization. To estimate the inertial parameters of the manipulator dynamic model, an algorithm for system identification was developed. Several estimation algorithms were implemented and compared.