Method for determining at least one compliance property associated with a selected axis of a manipulator, wherein said manipulator is configured to be controlled by a controller, and comprises at least one axis comprising a joint and a linkage connected to said joint, wherein the joint is configured to be actuated via a drive train by torque from an actuator, the method comprising: - clamping a movable part of the manipulator to a point in space by controlling the manipulator such that the manipulator attains a clamped kinematic configuration; - selecting an identification joint set comprising at least one joint of the manipulator, wherein the at least one joint of the identification joint set is configured to control and monitor said selected axis whose associated at least one compliance property is to be determined; - selecting an excitation joint set comprising at least one joint of the manipulator which for the clamped kinematic configuration of the manipulator is configured to excite at least one link of the selected axis connected to the at least one joint of the identification joint set; - selecting a clamping configuration joint set of the manipulator, wherein the at least one joint of the clamping configuration joint set is not part of the identification joint set and the excitation joint set; - actuating said excitation joint set, such that said selected axis is excited while controlling the clamping configuration joint set such that the clamped kinematic configuration is maintained; - monitoring one or more quantities related to joint torque and joint position obtained from actuator torque and actuator position for at least one joint in the identification joint set and/or excitation joint set; and - determining the at least one compliance property of said selected axis based on the one or more quantities monitored. - clamping a movable part of the manipulator to a point in space by controlling the manipulator such that the manipulator attains a clamped kinematic configuration; - selecting an identification joint set comprising at least one joint of the manipulator, wherein the at least one joint of the identification joint set is configured to control and monitor said selected axis whose associated at least one compliance property is to be determined; - selecting an excitation joint set comprising at least one joint of the manipulator which for the clamped kinematic configuration of the manipulator is configured to excite at least one link of the selected axis connected to the at least one joint of the identification joint set; - selecting a clamping configuration joint set of the manipulator, wherein the at least one joint of the clamping configuration joint set is not part of the identification joint set and the excitation joint set; - actuating said excitation joint set, such that said selected axis is excited while controlling the clamping configuration joint set such that the clamped kinematic configuration is maintained; - monitoring one or more quantities related to joint torque and joint position obtained from actuator torque and actuator position for at least one joint in the identification joint set and/or excitation joint set; and - determining the at least one compliance property of said selected axis based on the one or more quantities monitored.