Abstract
To obtain a reliable collision-free path, relevant constraints can be added to the robot. In this paper, safety reinforcement learning with kinematic constraints and torque-limited is studied to ensure safety in planning, with the designing of reinforcement learning action space to ensure the feasibility of action. For evaluation, path planning was carried out in an industrial welding scenario to allow the robot to reach the welding point in the narrow space. The experimental results show that the proposed method not only ensures convergence but also ensures the safety and reliability of the task.
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