基于强化学习的机器人曲面恒力跟踪研究

张铁,肖蒙,邹焱飚,肖佳栋

Research on robot constant force control of surface tracking based on reinforcement learning

Tie ZHANG,Meng XIAO,Yan-biao ZOU,Jia-dong XIAO

表 1 PILCO迭代过程中力误差参数的对比

Tab.1 Comparison of force error parameters during PILCO iterations

迭代次数 力误差 |Δf |max/N $\left|\Delta \bar f \right| $/N Δfs /N 1 16.442 7 1.707 9 3.108 1 2 10.184 9 1.134 9 1.758 9 3 11.647 8 0.944 8 1.510 0 4 12.292 2 0.958 1 1.604 6 5 12.397 4 1.120 5 1.793 6 6 10.817 4 1.085 5 1.619 9 7 11.984 2 0.890 6 1.501 7 8 11.395 5 0.855 4 1.440 8