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Robot Manipulator on Homogeneous Matrix

This robotinhtm environment can be installed via:

import mlpro.rl.pool.envs.robotinhtm

  • 3rd Party Dependencies

    • PyTorch
    • NumPy
  • Overview

image

This environment represents the robot manipulator in term of mathematical equations. The mathematical equations are based on rigid body transformation. In this case, the Homogeneous Transformation Matrix (HTM) is used for the structure. HTM is a matrix that contains both the translation rotation of a point with respect to some plane.

$$\begin{aligned} H=\begin{bmatrix} \mathbf{Rot}& \mathbf{Trans}\\ \mathbf{0} & 1 \end{bmatrix} = \underbrace{\begin{bmatrix} \mathbf{I} & \mathbf{Trans}\\ \mathbf{0} & 1 \end{bmatrix}}_{translation} \underbrace{\begin{bmatrix} \mathbf{Rot} & \mathbf{0}\\ \mathbf{0} & 1 \end{bmatrix}}_{rotation} \end{aligned}$$

  • General information
Parameter Value
Agents 1
Native Source MLPro
Action Space Dimension [4,]
Action Space Base Set Real number
Action Space Boundaries [-pi,pi]
State Space Dimension [6,]
State Space Base Set Real number
State Space Boundaries [-inf,inf]
Reward Structure Overall reward
  • Action space

By default, there are 4 action in this environment. The action space represents the angular velocity of each joint of the robot manipulator.

  • State space

The state space consists of end-effector positions (x,y,z) of the robot manipulator and target positions (x,y,z).

  • Reward structure

By default, the reward structures are shown in the following equation:

$$reward=-1*\frac{distError}{initDist}-stepReward$$

  • Version structure

    • Version 0.0.0 : Initial version release in MLPro v. 0.0.0???

If you apply this environment in your research or work, please kindly cite the following related paper:

@article{NoName2021
 }