Skip to content
/ Reinforcement-Learning-on-2DOF-manipulator Public

the DDPG algorithm was implemented for the linear model(direct control of joint angles) and non linear dynamics of the 2-DOF planar manipulator.

License

MIT license
0 stars 0 forks Branches Tags Activity
Star
Notifications You must be signed in to change notification settings

Sanjay-j-p/Reinforcement-Learning-on-2DOF-manipulator

BranchesTags

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

6 Commits
LICENSE
LICENSE
 
 
README.md
README.md
 
 
env_with_torque.py
env_with_torque.py
 
 
main_with_torque.py
main_with_torque.py
 
 
rl.py
rl.py
 
 

Repository files navigation

RL-on-2r-manipulator

the DDPG algorithm was implemented for the linear model(direct control of joint angles) and non linear dynamics of the 2-DOF planar manipulator.

image

Linear model for Stright line Minimum jerk trajectory[mjt]:

2R_RL_Straight_line.mp4

Non -linear dynamics for reaching task:

Eq_2R.mp4

About

the DDPG algorithm was implemented for the linear model(direct control of joint angles) and non linear dynamics of the 2-DOF planar manipulator.

Resources

Readme

License

MIT license
Activity

Stars

0 stars

Watchers

1 watching

Forks

0 forks
Report repository

Releases

No releases published

Packages

No packages published

Languages