A method for identifying at least one physical characteristic of a work piece includes selecting at least one test scheme having one or more test configurations. At least one error isolation scheme is selected having one or more counterpart test configurations. The work piece is moved through the one or more test configurations, and a sensor suite measures one or more of base force, torque, or motion. The work piece is moved through the one or more counterpart test configurations, and counterpart force, torque or motion are measured. Identification of the at least one physical characteristic includes isolating error common to one or more of the measured base and counterpart force, torque or motion, and removing the isolated error from the base measurements to generate one or more of refined force, torque or motion. The at least one physical characteristic is determined according to the one or more refined values.