Author

A. Khanzadeh

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Jul 2026

Deep Reinforcement Learning for Adaptive Gain Tuning in Control of Teleoperation Manipulators with Joint Flexibility and Time-Varying Delays

A hybrid control method that combines a stable Proportional-plus-Damping (P+d) controller with a model-free deep reinforcement learning agent based on the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm to provide a practical solution for teleoperation systems facing both joint flexibility and uncertain...

Armin Attarzadeh, Mohammadali Ghaemifar, A. Khanzadeh et al. · arXiv.org · 2 citations