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
Inverse Kinematics; Damped Least Square; heterogeneous MPSoC; FPGA; CERBERO project
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