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Feasibility Study and Porting of the Damped Least Square Algorithm on FPGA
- Source :
- IEEE Access, Vol 8, Pp 175483-175500 (2020), IEEE Access, IEEE Access, IEEE, 2020, 8, pp.175483-175500. ⟨10.1109/ACCESS.2020.3025367⟩, IEEE Access, 2020, 8, pp.175483-175500. ⟨10.1109/ACCESS.2020.3025367⟩
- Publication Year :
- 2020
- Publisher :
- IEEE, 2020.
-
Abstract
- International audience; Modern embedded computing platforms used within Cyber-Physical Systems (CPS) are nowadays leveraging more and more often on heterogeneous computing substrates, such as newest Field Programmable Gate Array (FPGA) devices. Compared to general purpose platforms, which have a fixed datapath, FPGAs provide designers the possibility of customizing part of the computing infrastructure, to better shape the execution on the application needs/features, and offer high efficiency in terms of timing and power performance, while naturally featuring parallelism. In the context of FPGA-based CPSs, this article has a two fold mission. On the one hand, it presents an analysis of the Damped Least Square (DLS) algorithm for a perspective hardware implementation. On the other hand, it describes the implementation of a robotic arm controller based on the DLS to numerically solve Inverse Kinematics problems over a heterogeneous FPGA. Assessments involve a Trossen Robotics WidowX robotic arm controlled by a Digilent ZedBoard provided with a Xilinx Zynq FPGA that computes the Inverse Kinematic.
- Subjects :
- General Computer Science
Computer science
robotic arm controller
Trajectory
Symmetric multiprocessor system
02 engineering and technology
Kinematics
Robot kinematics
Porting
[SPI]Engineering Sciences [physics]
reconfigurable architectures
Control theory
Datapath
Cyber physical systems
design automation
0202 electrical engineering, electronic engineering, information engineering
hardware
General Materials Science
Field-programmable gate array
field programmable gate arrays
Inverse kinematics
business.industry
General Engineering
020207 software engineering
Robotics
damped least square
Manipulators
Embedded system
Task analysis
020201 artificial intelligence & image processing
embedded systems
Artificial intelligence
lcsh:Electrical engineering. Electronics. Nuclear engineering
heterogeneous platforms
business
Robotic arm
lcsh:TK1-9971
Subjects
Details
- Language :
- English
- ISSN :
- 21693536
- Volume :
- 8
- Database :
- OpenAIRE
- Journal :
- IEEE Access
- Accession number :
- edsair.doi.dedup.....85152af898d909cfb43f42d295ebbef7