Research notebook from the paper: Sousa, Cristóvão D. and Cortesão, Rui, "Physically feasible dynamic parameter identification of the 7-DOF WAM robot," Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on , pp.2868-2873, 3-7 Nov. 2013, Tokyo, Japan, doi: 10.1109/IROS.2013.6696762