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

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Tarih

1993

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Yayıncı

Institute of Electrical and Electronics Engineers Inc.

Erişim Hakkı

info:eu-repo/semantics/closedAccess

Özet

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. © 1993 IEEE.

Açıklama

IEEE Computer Society Technical Committee on Real-Time Systems
1993 IEEE Workshop on Real-Time Applications, RTA 1993 -- 13 May 1993 through 14 May 1993 -- 145586

Anahtar Kelimeler

Kaynak

Proceedings - IEEE Workshop on Real-Time Applications, RTA 1993

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N/A

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