کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413783 680677 2012 15 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Obstacle avoidance of redundant manipulators using neural networks based reinforcement learning
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Obstacle avoidance of redundant manipulators using neural networks based reinforcement learning
چکیده انگلیسی

This paper proposes a new approach for solving the problem of obstacle avoidance during manipulation tasks performed by redundant manipulators. The developed solution is based on a double neural network that uses Q-learning reinforcement technique. Q-learning has been applied in robotics for attaining obstacle free navigation or computing path planning problems. Most studies solve inverse kinematics and obstacle avoidance problems using variations of the classical Jacobian matrix approach, or by minimizing redundancy resolution of manipulators operating in known environments. Researchers who tried to use neural networks for solving inverse kinematics often dealt with only one obstacle present in the working field. This paper focuses on calculating inverse kinematics and obstacle avoidance for complex unknown environments, with multiple obstacles in the working field. Q-learning is used together with neural networks in order to plan and execute arm movements at each time instant. The algorithm developed for general redundant kinematic link chains has been tested on the particular case of PowerCube manipulator. Before implementing the solution on the real robot, the simulation was integrated in an immersive virtual environment for better movement analysis and safer testing. The study results show that the proposed approach has a good average speed and a satisfying target reaching success rate.


► We analyse the problem of obstacle avoidance during manipulation tasks.
► We develop a solution based on neural networks and Q-learning technique.
► The algorithm has been tested on the particular case of PowerCube manipulator.
► A simulation was integrated in an immersive virtual environment for movement analysis.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 28, Issue 2, April 2012, Pages 132–146
نویسندگان
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