Journal of Information Organization Luca Fanni, Leonardo Suriano, Claudio Rubattu, Pablo Sánchez de, Rojas, Eduardo de la Torre, Francesca Palumbo 10 1 2020 https://doi.org/10.6025/jio/2020/10/1/22-32 http://www.dline.info/jio/fulltext/v10n1/jiov10n1_3.pdf 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.