Abstract
O objetivo deste trabalho é analisar os efeitos da definição de parâmetros do Aprendizado por Reforço no desempenho de um manipulador robótico. Para isso, são realizados experimentos com um manipulador simulado do tipo SCARA. Além disso, é adotada a modelagem matemática via Metodologia de Superfície de Resposta. Os resultados apontam uma tendência no aumento de desempenho do manipulador quando a taxa de aprendizado e o fator de desconto se aproximam simultaneamente de zero.
Palavras-chave: Aprendizado por Reforço. Manipulador Robótico. Metodologia de Superfície de Resposta.
Analysis of the defition of reinforcement learning parameters in the robotic manipulator performance
Abstract
The objective of this work is to analyze the effects of the definition of Reinforcement Learning parameters on the performance of a robotic manipulator. For this experiments are performed with a simulated manipulator of the type SCARA. Furthermore it adopted the mathematical modeling via Response Surface Methodology. The results point to a tendency in the manipulator performance increase when the learning rate and discount factor are simultaneously approaching zero.
Keywords: Reinforcement Learning. Robotic Manipulator. Response Surface Methodology.
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