Manipulator inverse dynamics computation on FPGA for reconfigurable applications.
Chun-Shin LinPavan Kumar AlapatiHyongsuk KimPublished in: CASE (2010)
Keyphrases
- inverse dynamics
- parallel manipulator
- hardware implementation
- field programmable gate array
- low cost
- systolic array
- degrees of freedom
- nonlinear systems
- dynamic model
- digital signal
- image processing algorithms
- pipelined architecture
- power reduction
- robot manipulators
- real time
- signal processing
- embedded systems
- vision system
- genetic algorithm
- control system