A new approach to manipulator control: the cerebellar model articulation controller (CMAC). (English) Zbl 0314.92007

Summary: CMAC is an adaptive system by which control functions for many degrees of freedom operating simultaneously can be computed by referring to a table rather than by mathematical solution of simultaneous equations. CMAC combines input commands and feedback variables into an input vector which is used to address a memory where the appropriate output variables are stored. Each address consists of a set of physical memory locations, the arithmetic sum of whose contents is the value of the stored variable. The CMAC memory addressing algorithm takes advantage of the continuous nature of the control function in a way which promises to make it possible to store the necessary data in a physical memory of practical size.


92B05 General biology and biomathematics
93C40 Adaptive control/observation systems
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