Abstract: A method for identifying model parameters of a robotic manipulator is proposed,which minimizes the num-ber of model parameters appearing in dynamic equations of a manipulator through a regrouping procedure forthe Lagrangian functions of the manupulator and formulates the identification model with the model parameters in an upper block triangular form.The least squares method and Runge-Kutta are used in simulation ofidentification of model parameters of a two-link manipulator.