2012/11/06 by Hossein Jahandideh, Jahandideh, Hossein, Mehrzad Namvar +1
Computer Science · Engineering · #Control Systems and Identification #FOS: Computer and information sciences #Fault Detection and Control Systems #Robotics (cs.RO) #Sensor Technology and Measurement Systems #cs.RO
paper · pdf · doi:10.48550/arxiv.1211.1332
6 pages, 1 figure, 5 tables, Published in the International Conference on System Theory, Control and Computing 2012 (IEEE) Proceedings, to be indexed in IEEExplore
arxiv created 2012/11/06 · openalex publication_date 2012/11/06 · arxiv updated 2012/11/07 · openalex created_date 2022/10/01 · openalex updated_date 2026/07/28
In this paper, we analyze the robustness of the PSO-based approach to parameter estimation of robot dynamics presented in Part One. We have made attempts to make the PSO method more robust by experimenting with potential cost functions. The simulated system is a cylindrical robot; through simulation, the robot is excited, samples are taken, error is added to the samples, and the noisy samples are used for estimating the robot parameters through the presented method. Comparisons are made with the least squares, total least squares, and robust least squares methods of estimation.