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Title: :  A MODELING APPROACH OF MANIPULATOR ROBOT TO USE IN REINFORCEMENT LEARNING CONTROL
PaperId: :  13080
Published in:   International Journal Of Advance Research And Innovative Ideas In Education
Publisher:   IJARIIE
e-ISSN:   2395-4396
Volume/Issue:    Volume 6 Issue 6 2020
DUI:    16.0415/IJARIIE-13080
Licence: :   IJARIIE is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

Author NameAuthor Institute
RANAIVOSON Narilala DanielED-STII
RAKOTOMIRAHO SoloniainaED-STII

Abstract

Computer Engineering
robot modeling, robot manipulator, Denavit –Hartenberg parameters, homogeneous transformations, inertial tensor, mass center, Lagrange-Euler equation, Newton-Euler equation, Kinetic energy, Potential energy, Dynamic direct, dynamic inverse, ROS, URDF, PID, Ziegler-Nichols tuning method, ROS controller
In order to apply a reinforcement learning concepts to robotic, it is useful to have hands on a robot model. In this paper we relate the work of modeling a robot. The point is to propose a way of designing the model not to model any particular robot. From geometrical measurements, one can write the Denavit –Hartenberg parameters of each joint. Then the homogeneous transformation matrix, associated with each joint, fallows. For the entire robot the homogeneous transformation is given by multiplying consecutively each matrix. But in order to be efficient, those multiplications will be done with numerical values instead of literal expressions. Information’s about mass, density and geometric shapes allow computing every element of the inertia tensor. To simplify, we will use cylindrical forms for the joints. And then the equation of motion in the formulations of Lagrage-Euler and Newton-Euler will be written. From these equations we derive, two classes of equations. The inverse dynamic equations correspond to the control problem i.e. the question: what is the force to apply for a given trajectory? And the direct dynamic respond to another question: what is the trajectory induced by a given force? PID controls are formulated from dynamic equations. And the tuning works are done by Ziegler-Nichols methods. The modelling and simulation are carried on ROS environment. We propose a manipulator robot with five joints. Descriptions of the robot are made in URDF format. The response curves are plotted from the information given by each joint. Simulation results and experimental data have shown similarities with real system. This makes us rather confident about the validity of the model.

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IJARIIE RANAIVOSON Narilala Daniel, and RAKOTOMIRAHO Soloniaina. "A MODELING APPROACH OF MANIPULATOR ROBOT TO USE IN REINFORCEMENT LEARNING CONTROL" International Journal Of Advance Research And Innovative Ideas In Education Volume 6 Issue 6 2020 Page 242-256
MLA RANAIVOSON Narilala Daniel, and RAKOTOMIRAHO Soloniaina. "A MODELING APPROACH OF MANIPULATOR ROBOT TO USE IN REINFORCEMENT LEARNING CONTROL." International Journal Of Advance Research And Innovative Ideas In Education 6.6(2020) : 242-256.
APA RANAIVOSON Narilala Daniel, & RAKOTOMIRAHO Soloniaina. (2020). A MODELING APPROACH OF MANIPULATOR ROBOT TO USE IN REINFORCEMENT LEARNING CONTROL. International Journal Of Advance Research And Innovative Ideas In Education, 6(6), 242-256.
Chicago RANAIVOSON Narilala Daniel, and RAKOTOMIRAHO Soloniaina. "A MODELING APPROACH OF MANIPULATOR ROBOT TO USE IN REINFORCEMENT LEARNING CONTROL." International Journal Of Advance Research And Innovative Ideas In Education 6, no. 6 (2020) : 242-256.
Oxford RANAIVOSON Narilala Daniel, and RAKOTOMIRAHO Soloniaina. 'A MODELING APPROACH OF MANIPULATOR ROBOT TO USE IN REINFORCEMENT LEARNING CONTROL', International Journal Of Advance Research And Innovative Ideas In Education, vol. 6, no. 6, 2020, p. 242-256. Available from IJARIIE, http://ijariie.com/AdminUploadPdf/A_MODELING_APPROACH_OF_MANIPULATOR_ROBOT_TO_USE_IN_REINFORCEMENT_LEARNING_CONTROL_ijariie13080.pdf (Accessed : 10 December 2020).
Harvard RANAIVOSON Narilala Daniel, and RAKOTOMIRAHO Soloniaina. (2020) 'A MODELING APPROACH OF MANIPULATOR ROBOT TO USE IN REINFORCEMENT LEARNING CONTROL', International Journal Of Advance Research And Innovative Ideas In Education, 6(6), pp. 242-256IJARIIE [Online]. Available at: http://ijariie.com/AdminUploadPdf/A_MODELING_APPROACH_OF_MANIPULATOR_ROBOT_TO_USE_IN_REINFORCEMENT_LEARNING_CONTROL_ijariie13080.pdf (Accessed : 10 December 2020)
IEEE RANAIVOSON Narilala Daniel, and RAKOTOMIRAHO Soloniaina, "A MODELING APPROACH OF MANIPULATOR ROBOT TO USE IN REINFORCEMENT LEARNING CONTROL," International Journal Of Advance Research And Innovative Ideas In Education, vol. 6, no. 6, pp. 242-256, Nov-Dec 2020. [Online]. Available: http://ijariie.com/AdminUploadPdf/A_MODELING_APPROACH_OF_MANIPULATOR_ROBOT_TO_USE_IN_REINFORCEMENT_LEARNING_CONTROL_ijariie13080.pdf [Accessed : 10 December 2020].
Turabian RANAIVOSON Narilala Daniel, and RAKOTOMIRAHO Soloniaina. "A MODELING APPROACH OF MANIPULATOR ROBOT TO USE IN REINFORCEMENT LEARNING CONTROL." International Journal Of Advance Research And Innovative Ideas In Education [Online]. volume 6 number 6 (10 December 2020).
Vancouver RANAIVOSON Narilala Daniel, and RAKOTOMIRAHO Soloniaina. A MODELING APPROACH OF MANIPULATOR ROBOT TO USE IN REINFORCEMENT LEARNING CONTROL. International Journal Of Advance Research And Innovative Ideas In Education [Internet]. 2020 [Cited : 10 December 2020]; 6(6) : 242-256. Available from: http://ijariie.com/AdminUploadPdf/A_MODELING_APPROACH_OF_MANIPULATOR_ROBOT_TO_USE_IN_REINFORCEMENT_LEARNING_CONTROL_ijariie13080.pdf
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