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The mapping of an adaptive robot control algorithm onto RM, a reconfigurable machine for highly parallel real-time applications

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3 Author(s)
Erdogan, S.S. ; Sch. of Appl. Sci., Nanyang Technol. Univ., Singapore ; Tunali, E.T. ; Kuo, N.

The paper describes a configuration of the reconfigurable machine (RM) specifically optimized to handle inverse dynamics computation for robot control and to implement a neural network control strategy in a parallel platform. The difficulties of operating on a reconfigurable platform are overcome by defining a fixed processing element (PE) model with multiple processing components and by using the PE's local memory for storing micro-instructions to drive the parallel processors. Traditionally, reconfigurable platforms have been used to contain all the execution sequences and a local memory is usually provided to store the necessary data. VHDL description of the model has been used for simulation, synthesis and optimization for mapping to XILINX 4005 FPGA technology

Published in:

Real-Time Applications, 1993., Proceedings of the IEEE Workshop on

Date of Conference:

13-14 May 1993