Robotic Peg-in-Hole Assembly Strategy Research Based on Reinforcement Learning Algorithm

Robotic Peg-in-Hole Assembly Strategy Research Based on Reinforcement Learning Algorithm

To improve the robotic assembly effects in unstructured environments, a reinforcement learning (RL) algorithm is introduced to realize a variable admittance control. In this article, the mechanisms of a peg-in-hole assembly task and admittance model are first analyzed to guide the control strategy a...

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Bibliographic Details
Main Authors: Shaodong Li, Xiaogang Yuan, Jie Niu
Format: Article
Language:English
Published: MDPI AG 2022-11-01
Series:Applied Sciences
Subjects:
reinforcement learning
robot compliance control
peg-in-hole assembly
admittance controller
Online Access:https://www.mdpi.com/2076-3417/12/21/11149

Internet

https://www.mdpi.com/2076-3417/12/21/11149

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