Control method of robotic arm integrating PID feedforward compensation and SAC algorithm
To solve the problems of response lag and limited generalization of a single algorithm in traditional control methods for robotic arm trajectory tracking, a hierarchical control architecture is proposed. The upper layer adopts a soft actor critic algorithm optimized by multi actor critics to generat...
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| Published in: | Engineering Research Express Vol. 7; no. 4; pp. 45532 - 45545 |
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| Format: | Journal Article |
| Language: | English |
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31.12.2025
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| ISSN: | 2631-8695, 2631-8695 |
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| Abstract | To solve the problems of response lag and limited generalization of a single algorithm in traditional control methods for robotic arm trajectory tracking, a hierarchical control architecture is proposed. The upper layer adopts a soft actor critic algorithm optimized by multi actor critics to generate robust trajectories. The lower layer achieves precise tracking through the sparrow search algorithm proportional integral derivative feedforward compensation controller. The results show that the improved soft actor critic algorithm achieves average reward values of 1165 and 1087 in obstacle free scenes, with success rates of 88.65% and 83.54%, respectively, which are superior to other compared algorithms. Meanwhile, the root mean square error of the algorithm in different scenarios is only 0.18 rad s−1 and 0.24 rad s−1, respectively, and the single trajectory time is only 0.68 s and 0.77 s, achieving high-precision and high-efficiency robust trajectory generation. In addition, the sparrow search algorithm proportional integral derivative feedforward compensation controller has the highest degree of joint angle tracking coincidence, and its Z-axis contact force fluctuates around the expected value, with a lower fluctuation range than other methods, ranging from 6.78 N-7.36 N in scenario 1 and 6.52 N-8.13 N in scenario 2. This architecture achieves the synergy of global optimization and precise tracking, suitable for 3–6 axis serial industrial robotic arms, providing important reference for high-precision trajectory tracking of multi degree of freedom robotic arms. |
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| AbstractList | To solve the problems of response lag and limited generalization of a single algorithm in traditional control methods for robotic arm trajectory tracking, a hierarchical control architecture is proposed. The upper layer adopts a soft actor critic algorithm optimized by multi actor critics to generate robust trajectories. The lower layer achieves precise tracking through the sparrow search algorithm proportional integral derivative feedforward compensation controller. The results show that the improved soft actor critic algorithm achieves average reward values of 1165 and 1087 in obstacle free scenes, with success rates of 88.65% and 83.54%, respectively, which are superior to other compared algorithms. Meanwhile, the root mean square error of the algorithm in different scenarios is only 0.18 rad s −1 and 0.24 rad s −1 , respectively, and the single trajectory time is only 0.68 s and 0.77 s, achieving high-precision and high-efficiency robust trajectory generation. In addition, the sparrow search algorithm proportional integral derivative feedforward compensation controller has the highest degree of joint angle tracking coincidence, and its Z -axis contact force fluctuates around the expected value, with a lower fluctuation range than other methods, ranging from 6.78 N-7.36 N in scenario 1 and 6.52 N-8.13 N in scenario 2. This architecture achieves the synergy of global optimization and precise tracking, suitable for 3–6 axis serial industrial robotic arms, providing important reference for high-precision trajectory tracking of multi degree of freedom robotic arms. To solve the problems of response lag and limited generalization of a single algorithm in traditional control methods for robotic arm trajectory tracking, a hierarchical control architecture is proposed. The upper layer adopts a soft actor critic algorithm optimized by multi actor critics to generate robust trajectories. The lower layer achieves precise tracking through the sparrow search algorithm proportional integral derivative feedforward compensation controller. The results show that the improved soft actor critic algorithm achieves average reward values of 1165 and 1087 in obstacle free scenes, with success rates of 88.65% and 83.54%, respectively, which are superior to other compared algorithms. Meanwhile, the root mean square error of the algorithm in different scenarios is only 0.18 rad s−1 and 0.24 rad s−1, respectively, and the single trajectory time is only 0.68 s and 0.77 s, achieving high-precision and high-efficiency robust trajectory generation. In addition, the sparrow search algorithm proportional integral derivative feedforward compensation controller has the highest degree of joint angle tracking coincidence, and its Z-axis contact force fluctuates around the expected value, with a lower fluctuation range than other methods, ranging from 6.78 N-7.36 N in scenario 1 and 6.52 N-8.13 N in scenario 2. This architecture achieves the synergy of global optimization and precise tracking, suitable for 3–6 axis serial industrial robotic arms, providing important reference for high-precision trajectory tracking of multi degree of freedom robotic arms. |
| Author | Chen, Wei Zhou, Xin Yu, Shuang Li, Jian |
| Author_xml | – sequence: 1 givenname: Shuang orcidid: 0009-0008-8718-1508 surname: Yu fullname: Yu, Shuang organization: Suzhou Vocational Institute of Industrial Technology School of Intelligent Equipment, Suzhou 215000, People’s Republic of China – sequence: 2 givenname: Wei surname: Chen fullname: Chen, Wei organization: Jiangsu University of Science and Technology School of Automation, Zhenjiang 212100, People’s Republic of China – sequence: 3 givenname: Jian surname: Li fullname: Li, Jian organization: Leader Harmonious Drive System Co., Ltd, Suzhou 215000, People’s Republic of China – sequence: 4 givenname: Xin surname: Zhou fullname: Zhou, Xin organization: Suzhou Vocational Institute of Industrial Technology School of Intelligent Equipment, Suzhou 215000, People’s Republic of China |
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| Cites_doi | 10.25130/tjes.30.4.6 10.1063/5.0162246 10.1007/s10489-024-05293-5 10.12785/ijcds/160178 10.3390/automation5030014 10.54327/set2025/v5.I1.188 10.1109/TPWRS.2024.3403715 10.1109/TIE.2024.3357875 10.1177/1687814020913667 10.1080/23080477.2023.2270668 10.1109/TASE.2022.3213730 10.1177/09596518241229741 10.18196/jrc.v4i1.16990 10.1109/JAS.2022.105869 10.1002/oca.2962 10.1177/10775463231209394 10.47852/bonviewJDSIS3202837 10.1609/aaai.v36i7.20732 10.1017/S026357472100093X 10.1109/TCYB.2023.3240502 10.1109/LRA.2024.3396023 10.17798/bitlisfen.1370223 10.18196/jrc.V3i2.13906 10.1080/02533839.2024.2383566 |
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| SubjectTerms | feedforward compensation PID robotic arm control SAC sparrow optimization algorithm |
| Title | Control method of robotic arm integrating PID feedforward compensation and SAC algorithm |
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