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