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

@article{Steinkhler1998AHM,
  title={A holistic model for an internal representation to control the movement of a manipulator with redundant degrees of freedom},
  author={Ulrich Steink{\"u}hler and Holk Cruse},
  journal={Biological Cybernetics},
  year={1998},
  volume={79},
  pages={457-466}
}
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… CONTINUE READING