A network model for the control of the movement of a redundant manipulator.

In an earlier investigation (Cruse and Brüwer 1987) an algorithmic model was proposed which describes targeting movements of a human arm when restricted to a horizontal plane. As three joints at shoulder, elbow and wrist are allowed to move, the system is redundant. Two models are discussed here which replace this algorithmic model by a network model. Both networks solve the static problem, i.e. they provide the joint angles which the arm has to adopt in order to reach a given point in the workspace. In the first model the position of this point is given in the form of x--y coordinates, the second model obtains this information by means of a retina-like input layer. The second model is expanded by a simple procedure to describe movements from a start to an end point. The results qualitatively correspond to those obtained from human subjects. The advantages of the network models in comparison to the algorithmic model are discussed.