A Dataflow Implementation of Inverse Kinematics on Reconfigurable Heterogeneous MPSoC.
Luca Fanni, Leonardo Suriano, Claudio Rubattu, Pablo Sánchez, Eduardo de la Torre, Francesca Palumbo · UNICA IRIS Institutional Research Information System (University of Cagliari) · 2019
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.