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Removing Barriers to the Application of automation in Discrete Part Batch Manufacturing

IFAC Proceedings Volumes 1977年第11期10卷 293-296页

作者： J.M. Evans Office of Developmental Automation and Control Technology Institute for Computer Sciences and Technology National Bureau of Standards

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A new approach to manipulator control: The cerebellar model articulation controller (CMAC)

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Journal of Dynamic Systems, Measurement and control, Transactions of the ASME 1975年第3期97卷 220-227页

作者： Albus, J.S. Office of Developmental Automation and Control Technology National Bureau of Standards Washington DC United States

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. © 1975 by ASME.

关键词： Manipulators control equipment Feedback Algorithms Degrees of freedom

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Data storage in the cerebellar model articulation controller (CMAC)

引用

Journal of Dynamic Systems, Measurement and control, Transactions of the ASME 1975年第3期97卷 228-233页

作者： Albus, J.S. Office of Developmental Automation and Control Technology Institute for Computer Sciences and Technology National Bureau of Standards Washington DC United States

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 u 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. © 1975 by ASME.

关键词： Data storage systems Storage control equipment Manipulators

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