Use of PSO for Obtaining Solution of the Inverse Robot Dynamic Model

The inverse dynamic model allows to compute the torques for each of the degrees of freedom of a robot knowing the positions, velocities and accelerations. In contrast, direct dynamic model is used to calculate the positions, velocities and accelerations knowing the torques for each of the degrees of freedom. Most of the times is difficult to obtain the direct dynamic model analytically because it is given by solution of the differential equations for each variable. For that reason, we propose to compute the positions, velocities and accelerations from the inverse dynamic model using a simple and powerful intelligent algorithm called Particle Swarm Optimization (PSO) without needing to obtain the direct dynamic model.