Constant force grinding controller for robots based on SAC optimal parameter finding algorithm

Abstract Since conventional PID (Proportional–Integral–Derivative) controllers hardly control the robot to stabilize for constant force grinding under changing environmental conditions, it is necessary to add a compensation term to conventional PID controllers. An optimal parameter finding algorithm...

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Auteurs principaux:	Chosei Rei, Qichao Wang, Linlin Chen, Xinhua Yan, Peng Zhang, Liwei Fu, Chong Wang, Xinghui Liu
Format:	Artigo
Langue:	Inglês
Publié:	Nature Portfolio 2024-06-01
Collection:	Scientific Reports
Sujets:	Robots Constant force grinding Soft actor critic Optimal parameter finding algorithm Simulation model
Accès en ligne:	https://doi.org/10.1038/s41598-024-63384-2
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