robots are programmed using either the on-line mode, in which the robot programmer manually controls the movement of the robot indicating individual trajectory points or the off mode, in which the programmer enters th...
详细信息
robots are programmed using either the on-line mode, in which the robot programmer manually controls the movement of the robot indicating individual trajectory points or the off mode, in which the programmer enters the program code with predefined trajectory points. Both methods are not easy to be successfully implemented in practice, which is why the research on the development of self-learning methods can be useful. In this paper, for the robot's positioning task, the four Reinforcement Learning (RL) algorithms in six combinations are investigated. At first, the basics of these algorithms are described. Then they are used in positioning control of the robot's arm model and the evaluation of positioning accuracy, motion trajectory, and the number of steps required to achieve the goal is taken into account. The simulation results are recorded. The same tests were repeated in laboratory conditions, in which the Mitsubishi robot was controlled. The simulation results are compared with results obtained in reality. Positive results that have been obtained indicate, that the RL algorithms can be successfully applied for the learning of positioning control of a robot arm.
Nowadays cyber-physical systems are spreading wide all over the world. One of the examples of cyber-physical system is a "smart home" devices interaction for home cleaning. The paper presents the interaction...
详细信息
ISBN:
(纸本)9785757704890
Nowadays cyber-physical systems are spreading wide all over the world. One of the examples of cyber-physical system is a "smart home" devices interaction for home cleaning. The paper presents the interaction process between several physical devices through the Smart-M3-based smart space. These devices are robots that are modelling the vacuum cleaner behavior. For this purpose, the scenario of robots interaction in smart space is described in the paper. For the scenario implementation, robots should be constructed and programmed. The paper provides short survey of the most powerful robotic kits and description of its programming possibilities. The Lego Mindstorms EV3 Education kit is chosen for scenario implementation. The LeJOS is installed on the control block to extend its functionality. This functionality includes connection to the Smart-M3-based smart space and Java support for programming robot actions.
暂无评论