Title :
The mapping of an adaptive robot control algorithm onto RM, a reconfigurable machine for highly parallel real-time applications
Author :
Erdogan, S.S. ; Tunali, E.T. ; Kuo, Nelson
Author_Institution :
Sch. of Appl. Sci., Nanyang Technol. Univ., Singapore
Abstract :
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
Keywords :
adaptive control; computerised control; neural nets; parallel architectures; parallel programming; real-time systems; reconfigurable architectures; robots; VHDL description; XILINX 4005 FPGA technology; adaptive robot control algorithm; execution sequences; inverse dynamics computation; local memory; micro-instructions; neural network control strategy; parallel platform; parallel real-time applications; reconfigurable machine; robot control; Adaptive control; Application specific integrated circuits; Communication system control; Electronics packaging; Field programmable gate arrays; Hardware; Logic programming; Programmable control; Robot control; Sequences;
Conference_Titel :
Real-Time Applications, 1993., Proceedings of the IEEE Workshop on
Conference_Location :
New York, NY
Print_ISBN :
0-8186-4130-4
DOI :
10.1109/RTA.1993.263106