A General Framework of Motion Planning for Redundant Robot Manipulator Based on Deep Reinforcement Learning.
Xiangjian LiHuashan LiuMenghua DongPublished in: IEEE Trans. Ind. Informatics (2022)
Keyphrases
- motion planning
- trajectory planning
- robot manipulators
- reinforcement learning
- inverse kinematics
- robot arm
- degrees of freedom
- mobile robot
- control of robot manipulators
- path planning
- end effector
- control scheme
- humanoid robot
- dynamic model
- state space
- obstacle avoidance
- robotic tasks
- robotic arm
- learning algorithm
- multi robot
- control law
- model free
- markov decision processes
- machine learning
- genetic algorithm
- joint angles
- optimal policy
- real robot
- collision free