Integrated Intelligent Control of Redundant Degrees-of-Freedom Manipulators via the Fusion of Deep Reinforcement Learning and Forward Kinematics Models

Integrated Intelligent Control of Redundant Degrees-of-Freedom Manipulators via the Fusion of Deep Reinforcement Learning and Forward Kinematics Models

Redundant degree-of-freedom (DOF) manipulators offer increased flexibility and are better suited for obstacle avoidance, yet precise control of these systems remains a significant challenge. This paper addresses the issues of slow training convergence and suboptimal stability that plague current dee...

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Bibliographic Details
Main Authors: Yushuo Chen, Shijie Su, Kai Ni, Cunjun Li
Format: Article
Language:English
Published: MDPI AG 2024-09-01
Series:Machines
Subjects:
forward kinematics
neural network
manipulators
redundant degrees
Denavit–Hartenberg parameters
Markov decision process
Online Access:https://www.mdpi.com/2075-1702/12/10/667
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