Abstract:

In order to achieve the purpose of trajectory for 2DOF (Two Degrees of Freedom) manipulator, we propose an improved Qlearning algorithm which doesn't need the mathematical model of manipulator and can plan trajectory directly. The algorithm can dynamically adjust parameters of greedy strategy according to the study process. The simulation results show that the manipulator reaches the target position more quickly and the trajectory is the most optimal one when the new algorithm is applied to 2DOF manipulator trajectory plan.

Key words: manipulator, Q-learning, greedy strategy, trajectory plan, quantitative judgment unit