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

[+] Author and Article Information
J. S. Albus

Office of Developmental Automation and Control Technology, National Bureau of Standards, Washington, D.C.

J. Dyn. Sys., Meas., Control 97(3), 220-227 (Sep 01, 1975) (8 pages) doi:10.1115/1.3426922 History: Received June 06, 1975; Online July 13, 2010


CM AC 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. CM AC 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 CM AC 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.

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