Constant Force Grinding Controller for Robots Based on Soft-Actor-Critic Optimal Parameter Finding Algorithm
Chosei Rei,
Qichao Wang,
Linlin Chen
et al.
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 based on SAC(Soft-Actor-Critic) is proposed to solve the problem that the compensation term parameters are difficult to obtain, including training state action and normalization preprocessing, reward function design, and ta… Show more
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