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In order to enhance performance of robot systems in the manufacturing industry, it is essential to develop motion and task planning algorithms. Especially, it is important for the motion plan to be generated automatically in order to deal with various working environments. Although PRM (Probabilistic Roadmap) provides feasible paths when the starting and goal positions of a robot manipulator are given, the path might not be smooth enough, which can lead to inefficient performance of the robot system. This paper proposes a motion planning algorithm for robot manipulators using a twin delayed deep deterministic policy gradient (TD3) which is a reinforcement learning algorithm tailored to MDP with continuous action. Besides, hindsight experience replay (HER) is employed in the TD3 to enhance sample efficiency. Since path planning for a robot manipulator is an MDP (Markov Decision Process) with sparse reward and HER can deal with such a problem, this paper proposes a motion planning algorithm using TD3 with HER. The proposed algorithm is applied to 2-DOF and 3-DOF manipulators and it is shown that the designed paths are smoother and shorter than those designed by PRM.

A hybrid alternate current/direct current (AC/DC) microgrid consists of an AC subgrid and a DC subgrid, and the subgrids are connected through the interlink bidirectional AC/DC converter. In the stand-alone operation mode, it is desirable that the interlink bidirectional AC/DC converter manages proportional power sharing between the subgrids by transferring power from the under-loaded subgrid to the over-loaded one. In terms of system security, the interlink bidirectional AC/DC converter takes an important role, so proper control strategies need to be established. In addition, it is assumed that a battery energy storage system is installed in one subgrid, and the coordinated control of interlink bidirectional AC/DC converter and battery energy storage system converter is required so that the power sharing scheme between subgrids becomes more efficient. For the purpose of designing a tracking controller for the power sharing by interlink bidirectional AC/DC converter in a hybrid AC/DC microgrid, a droop control method generates a power reference for interlink bidirectional AC/DC converter based on the deviation of the system frequency and voltages first and then interlink bidirectional AC/DC converter needs to transfer the power reference to the over-loaded subgrid. For efficiency of this power transferring, a linear quadratic regulator with exponential weighting for the current regulation of interlink bidirectional AC/DC converter is designed in such a way that the resulting microgrid can operate robustly against various uncertainties and the power sharing is carried out quickly. Simulation results show that the proposed interlink bidirectional AC/DC converter control strategy provides robust and efficient power sharing scheme between the subgrids without deteriorating the secure system operation.

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