A Dataflow Implementation of Inverse Kinematics on Reconfigurable Heterogeneous MPSoC

Claudio Rubattu;Francesca Palumbo
2019-01-01

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.
2019
Inglese
Proceedings of the Cyber-Physical Systems PhD Workshop 2019, CPSWS 2019
CEUR-WS.org
CEUR WORKSHOP PROCEEDINGS
2457
107
118
12
2-s2.0-85073225756
http://ceur-ws.org/Vol-2457/11.pdf
Cyber-Physical Systems PhD Workshop
Esperti anonimi
23 Settembre 2019
Alghero
internazionale
scientifica
Inverse Kinematics; Damped Least Square; heterogeneous MPSoC; FPGA; CERBERO project
sì
4 Contributo in Atti di Convegno (Proceeding)::4.1 Contributo in Atti di convegno
Fanni, Luca; Suriano, Leonardo; Rubattu, Claudio; Sanchez, Pablo; de la Torre, Eduardo; Palumbo, Francesca
273
6
4.1 Contributo in Atti di convegno
open
info:eu-repo/semantics/conferencePaper
   Cross-layer modEl-based fRamework for multi-oBjective dEsign of Reconfigurable systems in unceRtain hybRid envirOnments
   CERBERO
   European Commission
   Horizon 2020 Framework Programme
   732105
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