A method, robot arrangement and computer program product for tuning a dynamical model of an industrial robot on a foundation. The parameter determining device includes a model memory with a first dynamical model of the robot, the first dynamical model including first model parameters representing dynamical properties of the robot; and a second dynamical model of a foundation to which the robot is to be attached, the second dynamical model including second model parameters representing dynamical properties of the foundation, and a parameter adjusting unit that obtains information about dynamical properties of the foundation by ordering the actuator to move the robot and by receiving, from the detector, measurements of at least one property affected by the movement; and set at least one of the second model parameters on the basis of the dynamical properties of the foundation.

An engineering system comprises a memory having instructions stored thereon and at least one processor configured to execute the instructions to cause the system to collect a plurality of tasks for a manipulator actuated by a motor. Structural parameters of the motor, a plurality of reference trajectories of the motor for actuating the manipulator to perform the plurality of tasks, and parameters of a feedback control policy for the manipulator are jointly determined to increase overlap between a probability distribution of values of operational data of the motor operating according to different real trajectories from a plurality of real trajectories and an efficiency map of the motor defined in a domain of the operational data of the motor. The structural parameters of the motor, the plurality of reference trajectories, and the feedback control policy are output for performing the plurality of tasks.