Exploiting Multi-Level Parallelism for Run-Time Adaptive Inverse Kinematics on Heterogeneous MPSoCs
This paper presents a run-time solver for the inverse kinematics of a robotic arm implemented on a heterogeneous Multi-Processor System-on-Chip (MPSoC). The solver has been formulated as an optimization problem, in which two levels of algorithmic parallelism are proposed: i) the Nelder-Mead derivati...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9126798/ |