Reinforcement Learning-Based PID Gain Optimization for Delta Parallel Robot Trajectory Tracking

In this study, a PID gain tuning approach using Deep Deterministic Policy Gradient (DDPG), a reinforcement learning (RL) algorithm, is proposed for trajectory tracking of delta parallel robots. Owing to their 3-degree-of-freedom (3-DOF) parallel kinematic structure, delta robots offer higher stiffne...

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Bibliografische gegevens

Hoofdauteurs:	Sertaç Savaş, Oğuzhan Kabakulak
Formaat:	Artigo
Taal:	Inglês
Gepubliceerd in:	MDPI AG 2026-01-01
Reeks:	Applied Sciences
Onderwerpen:	delta parallel robot trajectory tracking PID tuning Ziegler–Nichols Cohen–Coon reinforcement learning
Online toegang:	https://www.mdpi.com/2076-3417/16/3/1453
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