Model-free trajectory tracking control of a 5-DOF mitsubishi robotic arm using deep deterministic policy gradient algorithm

This paper introduces a model-free trajectory tracking control framework for a 5-degree-of-freedom (DOF) Mitsubishi RV-2AJ robotic arm, using the deep deterministic policy gradient (DDPG) algorithm. Unlike traditional control methods that depend on precise dynamic models, the proposed approach utilizes DDPG's actor-critic architecture to learn optimal control policies through continuous interaction with the environment, eliminating the need for explicit modeling of the robot's dynamics. Implemen