Ulrich Steinkühler

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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.(More)
For the control of the movement of a multijoint manipulator a “mental model” which represents the geometrical properties of the arm may prove helpful. Using this model the direct and the inverse kinematic problem could be solved. Here we propose such a model which is based on a recurrent network. It is realized for the example of a three-joint manipulator(More)
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,(More)
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