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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Vydané v:	Engineering Research Express Ročník 7; číslo 4; s. 45532 - 45545
Hlavní autori:	Yu, Shuang, Chen, Wei, Li, Jian, Zhou, Xin
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	IOP Publishing 31.12.2025
Predmet:	feedforward compensation PID robotic arm control SAC sparrow optimization algorithm
ISSN:	2631-8695, 2631-8695
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