Data Storage in the Cerebellar Model Articulation Controller (CMAC)

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

Office of Developmental Automation and Control Technology, Institute for Computer Sciences and Technology, National Bureau of Standards, Washington, D.C.

J. Dyn. Sys., Meas., Control 97(3), 228-233 (Sep 01, 1975) (6 pages) doi:10.1115/1.3426923 History: Received June 06, 1975; Online July 13, 2010


The storage of manipulator control functions in the CM AC 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 CM AC memory depending on the amount of data which has already been stored and the degree of accuracy which is desired. The CM AC system lends itself to a “natural” partitioning of the control problem into manageable subproblems. At each level the CM AC 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.

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