New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC)1

Published: September 30, 1975

Author(s)

James S. Albus

Abstract

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 physically 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.
Citation: Transactions of the ASME Journal of Dynamic Systems
Pub Type: Journals

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Keywords

Brain Models & Neural Nets
Created September 30, 1975, Updated February 17, 2017