Robot Manipulator on Homogeneous Matrix

This environment represents the robot manipulator in term of mathematical equations. The mathematical equations are based on rigid body transformation. In this case, the Homogeneous Transformation Matrix (HTM) is used for the structure. HTM is a matrix that contains both the translation rotation of a point with respect to some plane.

\[\begin{split}H=\begin{bmatrix} \mathbf{Rot}& \mathbf{Trans}\\ \mathbf{0} & 1 \end{bmatrix} = \underbrace{\begin{bmatrix} \mathbf{I} & \mathbf{Trans}\\ \mathbf{0} & 1 \end{bmatrix}}_{translation} \underbrace{\begin{bmatrix} \mathbf{Rot} & \mathbf{0}\\ \mathbf{0} & 1 \end{bmatrix}}_{rotation}\end{split}\]

This robotinhtm environment can be imported via:

import mlpro.rl.pool.envs.robotinhtm

Prerequisites

• NumPy

• PyTorch

General Information

Parameter	Value
Agents	1
Native Source	MLPro
Action Space Dimension	[4,]
Action Space Base Set	Real number
Action Space Boundaries	[-pi,pi]
State Space Dimension	[6,]
State Space Base Set	Real number
State Space Boundaries	[-inf,inf]
Reward Structure	Overall reward

Action Space

By default, there are 4 action in this environment. The action space represents the angular velocity of each joint of the robot manipulator.

State Space

The state space consists of end-effector positions (x,y,z) of the robot manipulator and target positions (x,y,z).

Reward Structure

By default, the reward structures are shown in the following equation:

\[reward=-1*\frac{distError}{initDist}-stepReward\]

Change Log

Version	Changes
0.0.0	Description of the change

Cross Reference

Other documents related to the environment should be referenced here. For example, the respecitve API Reference.

• API Reference

If you apply this environment in your research or work, please kindly cite the following related paper:

@article{NoName2021
 }