Programming a Reconfigurable Platform for Robotics Control

S. Erdogan (USA)


Programming, reconfigurable hardware, robotics control, VHDL.


This paper describes the programming of a reconfigurable environment to handle inverse dynamics computation for robotics control. The proposed computational model achieves high performance by combining two well-known techniques in a single platform: instruction parallelism/pipelining and avoidance of carry propagation while evaluating a lengthy sequence of sum of products. The difficulties of programming a reconfigurable platform is overcome by defining a fixed Processing Element (PE) model with multiple processing components and using microinstructions to drive the PEs. VHDL description of the model has been used for simulation, synthesis and optimization for mapping to XILINX FPGA technology.

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