Journal of Information Organization


Vol No. 10 ,Issue No. 1 2020

A Dataflow Implementation of Inverse Kinematics on Reconfigurable Heterogeneous MPSoC
Luca Fanni, Leonardo Suriano, Claudio Rubattu, Pablo Sánchez de, Rojas, Eduardo de la Torre, Francesca Palumbo
University of Sassari, 07100 Sassari, Italy, Univesidad Politécnica de Madrid, 28006 Madrid, Spain Univ Rennes, INSA Rennes, IETR UMR CNRS 6164, 35700 Rennes, France & Thales Alenia Space España, 28760 Madrid, Spain
Abstract: This paper describes the activities related to the implementation of a robotic arm controller based on the Damped Least Square algorithm to numerically solve Inverse Kinematics problems over a heterogeneous MPSoC platform.
Keywords: Inverse Kinematics, Damped Least Square, Heterogeneous MPSoC, FPGA, CERBERO Project A Dataflow Implementation of Inverse Kinematics on Reconfigurable Heterogeneous MPSoC
DOI:https://doi.org/10.6025/jio/2020/10/1/22-32
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