To be able to adjust the measurement for side effects, both an accurate dynamic model of the machine and a model or estimate of the load must be available. This estimate can be determined via reference movements (free movement without object contact). After estimating the load, the measurement or estimate of the forces can be adjusted for Coriolis, centripetal and centrifugal forces, gravitational and frictional effects, and inertia. Adaptive approaches can also be used here to continuously adjust the estimate of the load.