The invention relates to a method for determining at least one property of a joint, such as a joint (112, 114, 116-119, 180) of a manipulator (110), wherein said joint is configured to be driven by at least one actuator, the actuator being configured to drive said joint (112, 114, 116-119, 180) via a drivetrain. The method comprises: clamping (200) said joint such that motion of the joint becomes constrained, and actuating (210) said drivetrain while monitoring at least one quantity associated with a torque of said actuator and at least one quantity associated with the actuator position in order to determine (220) at least one output value of said actuator, said output value corresponding to at least one joint position and determining (230) the at least one property of the joint based on said at least one output value. The invention further relates to a system for determining the at least one property of a joint.
