FPGA based hardware accelerator for calculations of the parallel robot inverse kinematics

Gac, Konrad; Karpiel, Grzegorz; Petko, Maciej

doi:10.1109/etfa.2012.6489717

Cited by 8 publications

(14 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Moreover, while pipelining is often applied, algorithm-level parallelization is not. Analytical IK solvers have been accelerated with FPGAs, mainly addressing industrial robotics applications [2], [28]. Other works proposed the adoption of algorithms not commonly used for solving IK problems, but intrinsically parallel.…”

Section: A Hardware Implementations Of Inverse Kinematic Solversmentioning

confidence: 99%

“…Table 2 summarizes the described IK solvers hardware implementations together with the approach proposed in this work. The analyzed state-of-the-art works adopt algorithms that are not suitable for the manipulator that is used in this work [2], [28], or algorithms that are meant for application fields far from the one considered in this paper [29], or even algorithms that might not converge [31]. As already said, we adopted the DLS that has a predictable convergence time for a given trajectory length, and it is capable of tolerating singularities in the workspace.…”

Section: A Hardware Implementations Of Inverse Kinematic Solversmentioning

confidence: 99%

“…In general, the research activity in this context is flourishing [2]- [8]. In the H2020 CERBERO 1 European Project [8] we worked on providing a continuous design environment for CPSs that, at computational level, relies on many tools for FPGA-based CPSs, which have been accessed during the project time-frame on a Planetary Exploration use-case [9].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Feasibility Study and Porting of the Damped Least Square Algorithm on FPGA

Fanni

Rubattu

et al. 2020

IEEE Access

View full text Add to dashboard Cite

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 paper 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.

show abstract

Section: A Hardware Implementations Of Inverse Kinematic Solversmentioning

confidence: 99%

Section: A Hardware Implementations Of Inverse Kinematic Solversmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Feasibility Study and Porting of the Damped Least Square Algorithm on FPGA

Fanni

Rubattu

et al. 2020

IEEE Access

View full text Add to dashboard Cite

show abstract

“…the iterative reduction to a satisfactory level [18]. Nevertheless, the verification methods of the obtained computational model showed that the analytical equations have been derived correctly.…”

mentioning

confidence: 90%

“…The solution to this problem can sometimes be indeed very complex and less suitable for realtime computing. However, the computation of length for each arm can be carried out independently, which can additionally speed up the process [18]. This procedure is used to guide the moving platform in controlling its movement [16,19].…”

Section: Introductionmentioning

confidence: 99%

Kinematics Analysis of a Novel Five-Degree-of-Freedom Spatial Parallel Micromanipulator

Prusak

Kobus

Karpiel

2014

Journal of Robotics

Self Cite

View full text Add to dashboard Cite

A study of the inverse kinematics for a five-degree-of-freedom (DOF) spatial parallel micromanipulator is presented here below. The objective of this paper is the introduction of a structural and geometrical model of a novel five-degree-of-freedom spatial parallel micromanipulator, analysis of the effective and useful workspace of the micromechanism, presentation of the obtained analytical solutions of the microrobot’s inverse kinematics tasks, and verification of its correctness using selected computer programs and computation environments. The mathematical model presented in this paper describes the behaviour of individual elements for the applied 2-DOF novel piezoelectric actuator, resulting from the position and orientation of the microrobot’s moving platform.

show abstract

Exploiting Multi-Level Parallelism for Run-Time Adaptive Inverse Kinematics on Heterogeneous MPSoCs

et al. 2020

View full text Add to dashboard Cite

This paper presents a run-time solver for the inverse kinematics of a robotic arm implemented on a heterogeneous Multi-Processor System-on-Chip (MPSoC). The solver has been formulated as an optimization problem, in which two levels of algorithmic parallelism are proposed: i) the Nelder-Mead derivative-free method used as the optimization engine is modified to allow the evaluation of the cost function in multiple vertices simultaneously, ii) the trajectory is divided into non-overlapping segments, in which all the points are solved concurrently. Algorithmic parallelism is supported by a variable number of parallel instances of a custom hardware accelerator, which speeds up the computation of the forward kinematics equations of the robot required during the resolution of the inverse kinematics. This adaptable scheme provides run-time scalability in terms of trajectory accuracy, logic resources, dependability, and execution time. New design methodologies are used to unify the modeling of the software and hardware partitions of the controller while transparently providing adaptability. They are based on the dataflow Model of Computation (MoC), supported by the PREESM prototyping tool. This tool has been extended to support the use of dynamically reconfigurable hardware accelerators implemented using the ARTICo 3 framework. The proposal has been validated with a python-based robotic arm simulator. Experimental results show how the proposed parallelism, combined with hardware acceleration, enables the run-time resolution of the trajectory with adaptable performance using a Xilinx Zynq UltraScale+ MPSoC device.

show abstract

FPGA based hardware accelerator for calculations of the parallel robot inverse kinematics

Cited by 8 publications

References 4 publications

Feasibility Study and Porting of the Damped Least Square Algorithm on FPGA

Feasibility Study and Porting of the Damped Least Square Algorithm on FPGA

Kinematics Analysis of a Novel Five-Degree-of-Freedom Spatial Parallel Micromanipulator

Exploiting Multi-Level Parallelism for Run-Time Adaptive Inverse Kinematics on Heterogeneous MPSoCs

Contact Info

Product

Resources

About