A simplified MMC model for the control of an arm with redundant degrees of freedom

Steinkühler U, Beyn W-J, Cruse H (1995)
Neural Processing Letters 2(4): 11-15.

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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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Steinkühler U, Beyn W-J, Cruse H. A simplified MMC model for the control of an arm with redundant degrees of freedom. Neural Processing Letters. 1995;2(4):11-15.
Steinkühler, U., Beyn, W. - J., & Cruse, H. (1995). A simplified MMC model for the control of an arm with redundant degrees of freedom. Neural Processing Letters, 2(4), 11-15. doi:10.1007/BF02279932
Steinkühler, U., Beyn, W. - J., and Cruse, H. (1995). A simplified MMC model for the control of an arm with redundant degrees of freedom. Neural Processing Letters 2, 11-15.
Steinkühler, U., Beyn, W.-J., & Cruse, H., 1995. A simplified MMC model for the control of an arm with redundant degrees of freedom. Neural Processing Letters, 2(4), p 11-15.
U. Steinkühler, W.-J. Beyn, and H. Cruse, “A simplified MMC model for the control of an arm with redundant degrees of freedom”, Neural Processing Letters, vol. 2, 1995, pp. 11-15.
Steinkühler, U., Beyn, W.-J., Cruse, H.: A simplified MMC model for the control of an arm with redundant degrees of freedom. Neural Processing Letters. 2, 11-15 (1995).
Steinkühler, Ulrich, Beyn, Wolf-Jürgen, and Cruse, Holk. “A simplified MMC model for the control of an arm with redundant degrees of freedom”. Neural Processing Letters 2.4 (1995): 11-15.
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