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NTIS 바로가기로봇학회논문지 = The journal of Korea Robotics Society, v.16 no.2, 2021년, pp.137 - 146
이종학 (Pusan National University) , 김경수 (Pusan National University) , 김윤재 (Pusan National University) , 이장명 (Electronics Engineering, Pusan National University)
When controlling manipulator, degree of freedom is lost in singularity so specific joint velocity does not propagate to the end effector. In addition, control problem occurs because jacobian inverse matrix can not be calculated. To avoid singularity, we apply Deep Deterministic Policy Gradient(DDPG)...
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