Conventional identification approach based on the inverse dynamic identification model using least-squares and direct and inverse dynamic identification techniques has been effectively used to identify inertial and friction parameters of robots. However these methods require a well-tuned filtering of the observation matrix and the measured torque to avoid bias in identification results. Meanwhile, the cutoff frequency of the lowpass filter f c must be well chosen, which is not always easy to do. In this paper, we propose to use a Kalman filter to reduce the noise of the observation matrix and the output torque signal of the PID controller.