Research on neural reinforcement learning-based non-inverse kinematics robotic arm control system

Yue Fang; Shizhuo Zhang; Wei Liu

doi:10.1117/12.3004707

9 October 2023 Research on neural reinforcement learning-based non-inverse kinematics robotic arm control system

Yue Fang, Shizhuo Zhang, Wei Liu

Proceedings Volume 12791, Third International Conference on Advanced Algorithms and Neural Networks (AANN 2023); 127911E (2023) https://doi.org/10.1117/12.3004707
Event: Third International Conference on Advanced Algorithms and Neural Networks (AANN 2023), 2023, Qingdao, SD, China

Abstract

Existing robotic arm control systems usually rely on artificial inverse kinematics modeling to solve, but due to the complexity of the robotic arm, this method is often expensive, particularly when the structure of the robotic arm changes, requiring it to be remodeled and solved again, making it too complex. This paper proposes a neural reinforcement learning-based inverse kinematics robotic arm control system, which only needs to model the forward kinematics of the robotic arm in the virtual simulation environment to JIT generate self-supervised training data to train the neural network, and the network can be used to control any size of hardware robotic arm after the network training converges, as long as its joint arm length ratio is the same as the ratio of training. Experiments show that we can complete this task with a small neural network, and low latency inference servo angle parameters under $150 Jetson Nano, in virtual simulation testing, our control accuracy reaches 97%, while in hardware testing, the accuracy of the camera and servo is reduced, but the control is still effective in the general range. Therefore, this inspires us to study the future research on servo angle nonlinear error correction and the end position control technology under the controlled environment.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yue Fang, Shizhuo Zhang, and Wei Liu "Research on neural reinforcement learning-based non-inverse kinematics robotic arm control system", Proc. SPIE 12791, Third International Conference on Advanced Algorithms and Neural Networks (AANN 2023), 127911E (9 October 2023); https://doi.org/10.1117/12.3004707

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KEYWORDS

Robotics

Neural networks

Servomechanisms

Kinematics

Education and training

Cameras

Robotic systems

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