An Admittance Parameter Optimization Method Based on Reinforcement Learning for Robot Force Control
Xiaoyi Hu,
Gongping Liu,
Peipei Ren
et al.
Abstract:When a robot performs tasks such as assembly or human–robot interaction, it is inevitable for it to collide with the unknown environment, resulting in potential safety hazards. In order to improve the compliance of robots to cope with unknown environments and enhance their intelligence in contact force-sensitive tasks, this paper proposes an improved admittance force control method, which combines classical adaptive control and machine learning methods to make them use their respective advantages in different … Show more
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