Learning-based Control for Tendon-Driven Continuum Robotic Arms
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866917948245934080 |
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| author | Maghooli, Nima Mahdizadeh, Omid Bajelani, Mohammad Moosavian, S. Ali A. |
| author_facet | Maghooli, Nima Mahdizadeh, Omid Bajelani, Mohammad Moosavian, S. Ali A. |
| contents | This paper presents a learning-based approach for centralized position control of Tendon Driven Continuum Robots (TDCRs) using Deep Reinforcement Learning (DRL), with a particular focus on the Sim-to-Real transfer of control policies. The proposed control method employs the Modified Transpose Jacobian (MTJ) control strategy, with its parameters optimally tuned using the Deep Deterministic Policy Gradient (DDPG) algorithm. Classical model-based controllers encounter significant challenges due to the inherent uncertainties and nonlinear dynamics of continuum robots. In contrast, model-free control strategies require efficient gain-tuning to handle diverse operational scenarios. This research aims to develop a model-free controller with performance comparable to model-based strategies by integrating an optimal adaptive gain-tuning system. Both simulations and real-world implementations demonstrate that the proposed method significantly enhances the trajectory-tracking performance of continuum robots independent of initial conditions and paths within the operational task-space, effectively establishing a task-free controller. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_04829 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Learning-based Control for Tendon-Driven Continuum Robotic Arms Maghooli, Nima Mahdizadeh, Omid Bajelani, Mohammad Moosavian, S. Ali A. Robotics Systems and Control This paper presents a learning-based approach for centralized position control of Tendon Driven Continuum Robots (TDCRs) using Deep Reinforcement Learning (DRL), with a particular focus on the Sim-to-Real transfer of control policies. The proposed control method employs the Modified Transpose Jacobian (MTJ) control strategy, with its parameters optimally tuned using the Deep Deterministic Policy Gradient (DDPG) algorithm. Classical model-based controllers encounter significant challenges due to the inherent uncertainties and nonlinear dynamics of continuum robots. In contrast, model-free control strategies require efficient gain-tuning to handle diverse operational scenarios. This research aims to develop a model-free controller with performance comparable to model-based strategies by integrating an optimal adaptive gain-tuning system. Both simulations and real-world implementations demonstrate that the proposed method significantly enhances the trajectory-tracking performance of continuum robots independent of initial conditions and paths within the operational task-space, effectively establishing a task-free controller. |
| title | Learning-based Control for Tendon-Driven Continuum Robotic Arms |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2412.04829 |