The Control of a Manipulator Using Cerebellar Model Articulation Controllers

Abstract

The emergence of the theory of artificial neural networks has made it possible to develop neural learning schemes that can be used to obtain alternative solutions to complex problems such as inverse kinematic control for robotic systems. The cerebellar model articulation controller (CMAC) is a neural network topology commonly used in the field of robotic control which was formulated in the 1970s by Albus. In this thesis, CMAC neural networks are analyzed in detail. Optimum network parameters and training techniques are discussed. The relationship between CMAC network parameters and training techniques are presented. An appropriate CMAC network is designed for the inverse kinematic control of a two-link robot manipulator.