Double Master’s Thesis - ETSEIB, 2021
This repository includes the complete source code written in Matlab used to execute closed-loop simulations of a robot moving a cloth piece using MPC, and also to improve this controller with Reinforcement Learning techniques.
Affiliation: Institut de Robòtica i Informàtica Industrial (IRI) CSIC-UPC, Barcelona.
- closed_loop_sims: Main codes to execute closed-loop simulations
- data: Some saved results and plotting codes, and also the files of the closed-loop reference trajectories
- learn_control: Codes and results obtained applying Reinforcement Learning to tune the MPC
- learn_model: Codes and results obtained applying Reinforcement Learning to find the parameters of the cloth model
- mpc_progression: Snippets of code representing the progressive changes done during the project, mentioned in its Memory
- required_files: CasADi toolbox, needed for the optimizations, and additional functions related to the cloth models
- with_robot: Codes using the Robotics Toolbox to initialize and plot a WAM robot in Matlab