Robot Position/Force Control in Unknown Environment Using Hybrid Reinforcement Learning.
Adolfo PerrusquíaWen YuPublished in: Cybern. Syst. (2020)
Keyphrases
- force control
- position control
- robot manipulators
- reinforcement learning
- robotic cell
- mobile robot
- closed loop
- control strategy
- control architecture
- initially unknown
- real robot
- end effector
- impedance control
- robotic systems
- robot arm
- control scheme
- robotic manipulator
- learning algorithm
- control law
- autonomous robots
- control strategies
- position and orientation
- real time
- optimal control
- function approximation
- autonomous agents
- dynamic environments
- robot control
- control algorithm
- contact force
- virtual world
- state space
- robot moves
- dynamic programming
- neural network