It is Keqin Wang first project in CMU, trying to use DRL(PPO) to control a 5-dof manipulator to draw line in space.

Overview

5dof-robot-writing

this project aim to use PPO control a 5 dof manipulator to draw lines in 3d space.

Introduction to the files

  1. the pybullet environment is built in 'env' folder.
  2. the 'PPO_trainer.py' is the trainnig program.
  3. the 'robot_5dof.py' is the control program.
  4. the results are put in 'result' folder.

How to use it

  1. run the 'PPO_trainner.py' to train the PPO agent. You also can test your agent by uncommenting the 'test()' funtion in main().
    alt text
  2. the trained agent will be saved in 'result' folder.
  3. run the 'robot_5dof.py' to generate the trajectory of manipulator, saved in 'action.npy'.
    alt text
  4. connect to the manipulator, run the 'my_serial.py', enter 'python3 my_serial.py single back' in termianl to control the manipulator move to start position.
  5. run 'control.py' to control the manipulator move following the trajectroy in the 'action.npy'. alt text
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Owner
Keqin Wang
Master student in MAIL Lab, CMU, Pittsburgh.
Keqin Wang
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