This paper analyses the structure and the principle of the CMAC model, modifies the address mapping and puts forward the new formula. This formula directly establishes a mapping from the input space to the compact physical address space, of which the capacity is much less than the theoretic value. In contrast to the original scheme of manipulator inverse kinematics control system, the simulations show that there is the same control performances in using less physical space with the application of the new ma...
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