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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Bibliographic Details
Published in:	Engineering Research Express Vol. 7; no. 4; pp. 45532 - 45545
Main Authors:	Yu, Shuang, Chen, Wei, Li, Jian, Zhou, Xin
Format:	Journal Article
Language:	English
Published:	IOP Publishing 31.12.2025
Subjects:	feedforward compensation PID robotic arm control SAC sparrow optimization algorithm
ISSN:	2631-8695, 2631-8695
Online Access:	Get full text
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