Modelling and experimental identification of a hydraulic servoactuator system is presented. The development of the model is important for further understanding the system and for developing a robust force controller. System parameters are identified using the elbow joint of the SARCOS slave experimental hydraulic manipulator. Experimental work is central to achieving the modelling objectives. Physical parameters are identified using specially designed experiments and apparatus which isolate various subsystems of the joint. Several modelling assumptions are justified by experimental observations. The model is validated by comparing simulation and experimental results. Correlation between model and actual system response proved to be very good. Hence, the developed model predicts well system dynamics behavior and will prove useful in the development of a robust force controller.