CMAC toward intelligent robot: motion and calibration

The cerebellar model arithmetic controller (CMAC), a kind of neuro-net based adaptive control function generator, has been successfully applied to the problems of inverse kinematic motion of two DOF manipulator and direct inverse calibration of three and six DOF PUMA 560 robots. Since CMAC-net autonomously maps and generalizes a desired system function via learning, CMAC allows no knowledge in modeling a system and other error sources. The mapping structure, learning aspects with algorithms, and the convergence of CMAC net are also briefly stated.<
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