Use of PSO in Parameter Estimation of Robot Dynamics; Part One: No Need\n for Parameterization

Abstract

Offline procedures for estimating parameters of robot dynamics are\npractically based on the parameterized inverse dynamic model. In this paper, we\npresent a novel approach to parameter estimation of robot dynamics which\nremoves the necessity of parameterization (i.e. finding the minimum number of\nparameters from which the dynamics can be calculated through a linear model\nwith respect to these parameters). This offline approach is based on a simple\nand powerful swarm intelligence tool: the particle swarm optimization (PSO). In\nthis paper, we discuss and validate the method through simulated experiments.\nIn Part Two we analyze our method in terms of robustness and compare it to\nrobust analytical methods of estimation.\n