关键词: 机器人, 增强学习, 轨迹跟踪, 比例&mdash, 微分控制器, 前馈神经网络

Abstract: To improve the working performance of robotic trajectory tracking controller,the robotic trajectory tracking control method based on reinforcement learning was proposed.The basic principle of reinforcement learning was introduced,and then the robot trajectory tracking control strategy based on SARSA was proposed.By using the reinforcement learning,the unknown disturbance factors were compensated and the adaptability to the unknown was improved after the PD control method was applied.The experimental results verified the feasibility and effectiveness of the reinforcement learning method in the trajectory tracking problem of robot arms,and the learning speed of the controller was enhanced.

Key words: robot, reinforcement learning, trajectory tracking, PD controller, feedforward neural network