A SIMPLIFIED MMC MODEL FOR THE CONTROL OF AN ARM WITH REDUNDANT DEGREES OF FREEDOM

被引：3
|
作者：
STEINKUHLER, U
BEYN, WJ
CRUSE, H
机构：
[1] UNIV BIELEFELD,FAC BIOL,DEPT BIOL CYBERNET,D-33501 BIELEFELD,GERMANY
[2] UNIV BIELEFELD,FAC MATH,D-33501 BIELEFELD,GERMANY
来源：
NEURAL PROCESSING LETTERS | 1995年 / 2卷 / 04期
关键词：
D O I：
10.1007/BF02279932
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The paper proposes a model for the control of a multisegmented arm, with redundant degrees of freedom. On the basis of an earlier model, the so-called MMC net, a simplified version is proposed here which has several advantages. First, it can easily be scaled up for the 3D case. Second, for the linear version a complete convergence proof is possible. Third, the properties of the earlier model are unchanged, namely versatile control of the redundant system, immediate change from direct kinematics to inverse kinematics or any mixed control task, as well as robustness against singularities.
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页码：11 / 15
页数：5
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