Loading [a11y]/accessibility-menu.js
A Feedback Force Controller Fusing Traditional Control and Reinforcement Learning Strategies | IEEE Conference Publication | IEEE Xplore

A Feedback Force Controller Fusing Traditional Control and Reinforcement Learning Strategies


Abstract:

We report on a novel force controller that fused a traditional proportional-integral-derivative (PID) controller with a proximal policy optimization (PPO)-based deep rein...Show More

Abstract:

We report on a novel force controller that fused a traditional proportional-integral-derivative (PID) controller with a proximal policy optimization (PPO)-based deep reinforcement learning (RL) algorithm. The deep RL algorithm provides long-term predictive force compensation to the real-time PID controller. The controller was applied to a 2D motion task with the goal of maintaining constant normal force in both simulation and experimental environments. The training of the deep RL algorithm used state data including the contact force and the distance between the workpiece and the end-effector of the manipulator. The validations of the proposed controller revealed that the controller with the aided deep RL algorithm could decrease the root mean square error (RMSE) of the measured force by between 11% and 80% in the simulation environment and by between 7% and 45% in the experimental environment, as compared with the controller without the aided deep RL algorithm. In addition, the displacement profile of the end-effector had a better match to that of the workpieces when aided by the deep RL algorithm.
Date of Conference: 08-12 July 2019
Date Added to IEEE Xplore: 17 October 2019
ISBN Information:

ISSN Information:

Conference Location: Hong Kong, China

References

References is not available for this document.