2-DOF Robot Optimal Control via Artificial Neural Network Reinforcement Learning

In the study optimal control problem a 2-DOF robot is stated. Criterion, which must be minimized, reflected RMS of drives power and length of the load trajectory in the “x- y” plane. The problem was reduced to the minimization of a complex cost function, which includes an artificial neural network (ANN) component. To train ANN reinforcement learning procedure was carried out, where punishment is associated with the cost function value. All the obtained results were analyzed via plots of the robot links motion and trajectory of the load.