In the uncertain nuclear environment, the manual door opening is dangerous. This paper proposed an adaptive opening and screwing method of manipulator based on force sense guidance. The six-dimensional force sensor could obtain the force and moment information at the end of the manipulator. It input the difference between the actual force or torque and the expected force or torque into deep deterministic policy gradient algorithm, output actions at the same time. This method used the function relationship between the two direction forces at the end of the manipulator to set the basic reward function and used the expected movement direction of the manipulator to set the guided reward function, for the manipulator could automatically adapt to the change of the moment and the stress, and completed the task of screwing the door handle. The experimental results show that the self-adaptive rotation method based on force guidance can achieve convergence in a shorter time and complete the task of rotating the door handle.

[2021-06-05] Printed Article /doc/2020.06.0251/v2