Position/force control of robot manipulators using reinforcement learning

Abstract

Purpose

The position/force control of the robot needs the parameters of the impedance model and generates the desired position from the contact force in the environment. When the environment is unknown, learning algorithms are needed to estimate both the desired force and the parameters of the impedance model.

Design/methodology/approach

In this paper, the authors use reinforcement learning to learn only the desired force, then they use proportional-integral-derivative admittance control to generate the desired position. The results of the experiment are presented to verify their approach.

Findings

The position error is minimized without knowing the environment or the impedance parameters. Another advantage of this simplified position/force control is that the transformation of the Cartesian space to the joint space by inverse kinematics is avoided by the feedback control mechanism. The stability of the closed-loop system is proven.

Originality/value

The position error is minimized without knowing the environment or the impedance parameters. The stability of the closed-loop system is proven.

Citation

Perrusquía, A., Yu, W. and Soria, A. (2019), "Position/force control of robot manipulators using reinforcement learning", Industrial Robot, Vol. 46 No. 2, pp. 267-280. https://doi.org/10.1108/IR-10-2018-0209