Open AccessCALCULATION OF MANIPULATOR EXPERIMENTAL MODEL FOR STUDYING THE METHODS OF LEARNING (WITH REINFORCEMENT)
Author(s) -
D Stupnikov,
Andrey Tolstyh,
Sergey Malyukov,
Aleksey Aksenov,
Sergey Novikov
Publication year - 2021
Publication title -
lesotehničeskij žurnal
Language(s) - English
Resource type - Journals
ISSN - 2222-7962
DOI - 10.34220/issn.2222-7962/2021.1/13
Subject(s) - reinforcement learning , computer science , set (abstract data type) , displacement (psychology) , software , position (finance) , margin (machine learning) , reinforcement , concentrator , simulation , robot , artificial intelligence , machine learning , engineering , structural engineering , operating system , psychology , finance , economics , psychotherapist , programming language , telecommunications
Reinforcement learning is a type of machine learning algorithm. These algorithms interact with the model of the environment in which the robotic system is supposed to be used, and make it possible to obtain relatively simple approximations of effective sets of system actions to achieve the set goal. The use of reinforcement learning will allow training the model on server hardware, and in the final system use already trained neural networks, the complexity of calculating the response of which directly depends on their topology. In the presented work, a statistical calculation of a prototype of a robotic manipulator for bench research of reinforcement learning systems has been carried out. The choice of design features and materials has been substantiated; the main units and design features have been considered. The studies were carried out in the SolidWorks Simulation software. A prototype of a robotic manipulator with a sufficiently high safety margin was obtained. It is concluded that the main stress concentrator is the junction of the eyelet and the platform, however, the maximum stress value was 38.804 kgf/sm2, which is insignificant. In this case, the maximum resulting movement will be concentrated in the upper part of the eyelet, and will shift depending on the position of the manipulator arm. The maximum recorded displacement is 0.073 mm, which is negligible