A holistic model for an internal representation to control the movement of a manipulator with redundant degrees of freedom

Steinkühler U, Cruse H (1998)
Biological Cybernetics 79(6): 457-466.

Zeitschriftenaufsatz | Veröffentlicht | Englisch
 
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Autor/in
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Abstract / Bemerkung
The paper proposes a model for the control of a multisegmented manipulator 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, an easy way of implementing a damping parameter is shown. Fourth, 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 in the case of singularities.
Stichworte
Kinematics; Manipulator; system; TASK; Redundancy; damping; REPRESENTATION; convergence; Inverse kinematics; MMC; model; movement; control; Recurrent network; Arm movement; Neural network
Erscheinungsjahr
1998
Zeitschriftentitel
Biological Cybernetics
Band
79
Ausgabe
6
Seite(n)
457-466
ISSN
0340-1200
Page URI
https://pub.uni-bielefeld.de/record/1681430

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Steinkühler U, Cruse H. A holistic model for an internal representation to control the movement of a manipulator with redundant degrees of freedom. Biological Cybernetics. 1998;79(6):457-466.
Steinkühler, U., & Cruse, H. (1998). A holistic model for an internal representation to control the movement of a manipulator with redundant degrees of freedom. Biological Cybernetics, 79(6), 457-466. doi:10.1007/s004220050495
Steinkühler, U., and Cruse, H. (1998). A holistic model for an internal representation to control the movement of a manipulator with redundant degrees of freedom. Biological Cybernetics 79, 457-466.
Steinkühler, U., & Cruse, H., 1998. A holistic model for an internal representation to control the movement of a manipulator with redundant degrees of freedom. Biological Cybernetics, 79(6), p 457-466.
U. Steinkühler and H. Cruse, “A holistic model for an internal representation to control the movement of a manipulator with redundant degrees of freedom”, Biological Cybernetics, vol. 79, 1998, pp. 457-466.
Steinkühler, U., Cruse, H.: A holistic model for an internal representation to control the movement of a manipulator with redundant degrees of freedom. Biological Cybernetics. 79, 457-466 (1998).
Steinkühler, U., and Cruse, Holk. “A holistic model for an internal representation to control the movement of a manipulator with redundant degrees of freedom”. Biological Cybernetics 79.6 (1998): 457-466.