A highly parallelized control system platform architecture using multicore CPU and FPGA for multi-DoF robots.
Sangok SeokDong Jin HyunSangIn ParkDavid OttenSangbae KimPublished in: ICRA (2014)
Keyphrases
- control system
- level parallelism
- reconfigurable hardware
- real time
- parallel architecture
- robotic platform
- hardware implementation
- hardware architecture
- distributed architecture
- hardware design
- control architecture
- software implementation
- multi robot
- low cost
- hardware architectures
- shared memory
- mobile robot
- robotic manipulator
- pose estimation
- hardware software
- distributed memory
- memory management
- fuzzy logic
- real environment
- high speed
- fpga technology
- closed loop
- dedicated hardware
- layered architecture
- control method
- degrees of freedom
- general purpose
- client server architecture
- signal processing
- communication protocol
- path planning
- field programmable gate array
- graphics processing units
- memory access
- monitoring system
- computing platform
- control law
- autonomous robots
- parallel robot
- systolic array
- control algorithm
- pipelined architecture