Enhancement of Control Performance for Degraded Robot Manipulators Using Digital Twin and Proximal Policy Optimization.
Su-Young ParkCheonghwa LeeHyungjung KimSung-Hoon AhnPublished in: IEEE Access (2024)
Keyphrases
- robot manipulators
- control scheme
- adaptive controller
- control of robot manipulators
- inverse kinematics
- end effector
- sliding mode control
- sliding mode
- trajectory planning
- control strategy
- optimization problems
- dynamic model
- control method
- control policy
- control system
- reinforcement learning
- optimal policy
- evolutionary algorithm
- control algorithm
- optimal control
- degrees of freedom
- optimization algorithm
- real time