Control Method of Multi-Source Information Fusion Manipulator Based on SAC Algorithm
It is necessary to integrate multi-source sensor information in the design of robotic arm to obtain various information and achieve precise control.This paper proposed a control method of muti-source information fusion manipulator based on the SAC algorithm.And this paper designs an experimental platform for manipulator control that can realize multi-source information fusion.The platform can fuse the three kinds of modal information,including vision,touch and encoder,and select the SAC with high learning efficiency to realize the autonomous and accurate control of manipulator.On the experimental platform,three manipulator motion control tasks from easy to difficult are carried out to verify the effectiveness of the proposed multi-source information fusion manipulator control scheme.
manipulatormulti-source information fusiondeep reinforcement learningSAC algorithm
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