基于模糊迭代Q-学习的冶金工业机器人轨迹跟踪控制研究

张卉,朱永飞,刘雪飞,徐向荣

Research on trajectory tracking control of metallurgical industrial robot based on fuzzy iterative Q-learning

Hui ZHANG,Yong-fei ZHU,Xue-fei LIU,Xiang-rong XU

表1 左机械臂的D-H参数

Table 1 D-H parameters of left mechanical arm

关节i θi /rad αi-1/rad di /mm ai-1/mm 1 θ1 0 0 0 2 θ2 -π/2 d2 0 3 θ3 π/2 0 0 4 θ4 -π/2 d4 0 5 θ5 π/2 0 0 6 θ6 -π/2 d6 0