关键词: 轨迹规划, 机械臂, 搜索策略, 在线学习, 数学模型

Abstract: Aiming at the local optimal solution for Q learning algorithm, a segment incremental search strategy was proposed base on greedy strategy. The improved Q learning jump gradually between three situations such as explore, learn and utilize by adjusting parameters of segment incremental search strategy, and it could approach the global optimal rapidly than the traditional one when the new search strategy is applied to the Q learning. The simulation results show that the manipulator reaches the target position accurately and quickly guided by the improve Q learning algorithm.

Key words: online learning, manipulator, mathematical model, trajectory plan, search strategy