Drawing

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

Dec 07, 2021 1 min read

5dof-robot-writing

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

Introduction to the files

the pybullet environment is built in ‘env’ folder.
the ‘PPO_trainer.py’ is the trainnig program.
the ‘robot_5dof.py’ is the control program.
the results are put in ‘result’ folder.

How to use it

run the ‘PPO_trainner.py’ to train the PPO agent. You also can test your agent by uncommenting the ‘test()’ funtion in main().
the trained agent will be saved in ‘result’ folder.
run the ‘robot_5dof.py’ to generate the trajectory of manipulator, saved in ‘action.npy’.
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.
run ‘control.py’ to control the manipulator move following the trajectroy in the ‘action.npy’.

GitHub

View Github

Drawing Hardware

John was the first writer to have joined pythonawesome.com. He has since then inculcated very effective writing and reviewing culture at pythonawesome which rivals have found impossible to imitate.