A Reinforcement Learning Trajectory Planning Model with Kalman Filter-Based Dynamic Tracking for Six-Axis Robotic Manipulators

Robot Arm Tracking Control refers to the control of robot end effectors following a prescribed trajectory as their movement in robotic systems. The work presents a combination of Kalman Filter Based Dynamic System Tracking with Reinforcement Learning Based Trajectory Planning. These two aspects of tracking and planning help the robotic manipulator dynamically track a target that is located on an arbitrary moving path. In particular, by using Kalman filtering to estimate the position of a moving target and to compensate for sensor noise and sparse sampling, we take high-precision estimation values of each point’s coordinates along the target trajectory as a reliable basis to build a policy network using reinforcement learning. Based on it, the robot manipulator could produce effective motion planning under its own dynamic capabilities and physical constraint limit. Comprehensive simulation results illustrate advantages of the new algorithm against the classical control method, confirm that the novel technique achieves better performance both in accuracy and computation efficiency. Also, this mixed control system can deal with complex moving path for track target object. Even when meet different obstacle and not sure measurement, it still works well with other moving obstacle in many conditions. This can be strong to face other dynamic obstacle even if have different situation with changing obstacle and uncertain data. It shows that this paper works as an attempt toward optimal solution to combine the model-based technique together with data-driven approach aiming to support real-time, highly accurate, adaptive prediction is based control technique, promising applications into industry and promoting more improved works related.