DOREP 2.0: An Upgraded Version of Robot Control Teaching Experimental Platform with Reinforcement Learning and Visual Analysis
文献类型：会议论文
| 作者 | Wang, Shuai; Li LJ(李璐君); Zhang Zhen; Zhang HL(张华良)
|
| 出版日期 | 2021 |
| 会议日期 | October 22-25, 2021 |
| 会议地点 | Yantai, China |
| 关键词 | Experiment platform MATLAB/Simulink Reinforcement learning Robot control Vision |
| 页码 | 122-132 |
| 英文摘要 | The Deep Open Robot Experiment Platform (DOREP) is an experimental system for general robot control. It includes a robot toolbox, a Linux based real-time controller and corresponding environment deployment tools. It is compatible with ROKAE robots, Universal robots, ABB robots, AUBO robots and other 6-DOF small low load general robots. It aims to provide users with a direct, high-level, more open and comprehensive programming interface. The toolbox of the original version of DOREP system contains more than 30 functions, including forward and inverse kinematics calculation, point-to-point joint and Cartesian control, trajectory generation, graphic display, 3D animation and diagnosis. On the basis of the original version, DOREP 2.0 system adds some new functional modules such as reinforcement learning and visual analysis, which further improves the performance of DOREP system. Taking the newly added module as an example, this paper expounds the functions of reinforcement learning module and visual analysis module, and applies them to simulation and experiment successfully. © 2021, Springer Nature Switzerland AG. |
| 产权排序 | 1 |
| 会议录 | 2021 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021
 |
| 会议录出版者 | Springer Science and Business Media Deutschland GmbH |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-030-89097-1 |
| WOS记录号 | WOS:000725394600012 |
| 源URL | [http://ir.sia.cn/handle/173321/29859]  |
| 专题 | 沈阳自动化研究所_工业控制网络与系统研究室 |
| 通讯作者 | Zhang HL(张华良) |
| 作者单位 | 1.Key Laboratory of Industrial Control Network and System, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 3.Faculty of Robot Science and Engineering, Northeastern University, Shenyang, China 4.School of Information Science and Technology, University of Science and Technology of China, Hefei, China 5.Faculty of Mechanical Engineering and Automation, Northeastern University, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Wang, Shuai,Li LJ,Zhang Zhen,et al. DOREP 2.0: An Upgraded Version of Robot Control Teaching Experimental Platform with Reinforcement Learning and Visual Analysis[C]. 见:. Yantai, China. October 22-25, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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