Deep Deterministic Policy Gradient with Reward Function Based on Fuzzy Logic for Robotic Peg-in-Hole Assembly Tasks
Robot automatic assembly of weak stiffness parts is difficult due to potential deformation during assembly. The robot manipulation cannot adapt to the dynamic contact changes during the assembly process. A robot assembly skill learning system is designed by combining the compliance control and deep...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-03-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/12/6/3181 |