Data Storage in the Cerebellar Model Articulation Controller (CMAC)1
James S. Albus
The storage of manipulator control functions in the CMAC memory is accomplished by an iterative process which, if the control function is sufficiently smooth, will converge. There are several different techniques for loading the CMAC memory depending on the amount of data which has already been stored and the degree of accuracy which is desired. The CMAC system lends itself to a natural partitioning of the control problem into manageable subproblems. At each level the CMAC controller translates commands from the next higher level into sequences of instructions to the next lower level. Data storage, or training, is accomplished first at the lowest level and must be completed, or nearly so, at each level before it can be initiated at the next higher level.
Transactions of the ASME Journal of Dynamic Systems
Data Storage in the Cerebellar Model Articulation Controller (CMAC)1, Transactions of the ASME Journal of Dynamic Systems, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820152
(Accessed June 7, 2023)