Academic Journal
Compliant Transfer Method for Space Manipulators Based on α PPO-LAG.
| Τίτλος: | Compliant Transfer Method for Space Manipulators Based on α PPO-LAG. |
|---|---|
| Συγγραφείς: | Li, Lianpeng1 (AUTHOR), Xin, Di1,2 (AUTHOR), Li, Mingyang2,3 (AUTHOR) lmy_hit@163.com, Zhang, Haibo1,2,3 (AUTHOR), Xu, Shuanfeng2,3 (AUTHOR), Zhang, Donghao1,3 (AUTHOR) |
| Πηγή: | Mathematics (2227-7390). Aug2026, Vol. 14 Issue 16, p3004. 24p. |
| Θεματικοί όροι: | *Space robotics, *Constrained optimization, *Weightlessness, *Reinforcement learning |
| Περίληψη: | To address challenges associated with high-dimensional coordination and strict physical constraints in fixed-base space manipulator tool transfer under zero gravity, this paper proposes a preference-conditioned safe reinforcement learning algorithm, which is called α PPO-LAG (α -Preference Proximal Policy Optimization with Lagrangian). The algorithm introduces a preference factor α to regulate the trade-off between task performance and physical safety through constraint-aware policy optimization. Meanwhile, an adaptive Lagrangian regulation mechanism based on constraint estimation is developed to improve safety satisfaction during training. Experimental results demonstrate that with α = 0.5 , the proposed method achieves an average reward of 990, outperforming PPO-LAG with 881 and CPO with 915. Furthermore, α PPO-LAG obtains a safety score of 0.935 while reducing the contact-force violation rate to 1.0% and maintaining a low end-effector velocity violation rate of 10.0%. The empirical safety-performance analysis reveals effective operating points under different safety preferences, providing a practical solution for safe and compliant fixed-base tool transfer in zero-gravity environments. [ABSTRACT FROM AUTHOR] |
| Βάση Δεδομένων: | Academic Search Index |
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