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...
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9126798/ |
| _version_ | 1819120803896098816 |
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| author | Leonardo Suriano Andres Otero Alfonso Rodriguez Manuel Sanchez-Renedo Eduardo De La Torre |
| author_facet | Leonardo Suriano Andres Otero Alfonso Rodriguez Manuel Sanchez-Renedo Eduardo De La Torre |
| author_sort | Leonardo Suriano |
| collection | DOAJ |
| description | 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 derivative-free method used as the optimization engine is modified to allow the evaluation of the cost function in multiple vertices simultaneously, ii) the trajectory is divided into non-overlapping segments, in which all the points are solved concurrently. Algorithmic parallelism is supported by a variable number of parallel instances of a custom hardware accelerator, which speeds up the computation of the forward kinematics equations of the robot required during the resolution of the inverse kinematics. This adaptable scheme provides run-time scalability in terms of trajectory accuracy, logic resources, dependability, and execution time. New design methodologies are used to unify the modeling of the software and hardware partitions of the controller while transparently providing adaptability. They are based on the dataflow Model of Computation (MoC), supported by the PREESM prototyping tool. This tool has been extended to support the use of dynamically reconfigurable hardware accelerators implemented using the ARTICo<sup>3</sup> framework. The proposal has been validated with a python-based robotic arm simulator. Experimental results show how the proposed parallelism, combined with hardware acceleration, enables the run-time resolution of the trajectory with adaptable performance using a Xilinx Zynq UltraScale+ MPSoC device. |
| first_indexed | 2024-12-22T06:26:29Z |
| format | Article |
| id | doaj.art-4ea99b6ed1af4ccbbdf0d38b6b41865f |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-22T06:26:29Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-4ea99b6ed1af4ccbbdf0d38b6b41865f2022-12-21T18:35:50ZengIEEEIEEE Access2169-35362020-01-01811870711872410.1109/ACCESS.2020.30052029126798Exploiting Multi-Level Parallelism for Run-Time Adaptive Inverse Kinematics on Heterogeneous MPSoCsLeonardo Suriano0https://orcid.org/0000-0002-3206-117XAndres Otero1Alfonso Rodriguez2https://orcid.org/0000-0001-6326-743XManuel Sanchez-Renedo3Eduardo De La Torre4Centro de Electrónica Industrial, Universidad Politécnica de Madrid, Madrid, SpainCentro de Electrónica Industrial, Universidad Politécnica de Madrid, Madrid, SpainCentro de Electrónica Industrial, Universidad Politécnica de Madrid, Madrid, SpainThales Alenia Space Espa na, Tres Cantos, SpainCentro de Electrónica Industrial, Universidad Politécnica de Madrid, Madrid, SpainThis 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 derivative-free method used as the optimization engine is modified to allow the evaluation of the cost function in multiple vertices simultaneously, ii) the trajectory is divided into non-overlapping segments, in which all the points are solved concurrently. Algorithmic parallelism is supported by a variable number of parallel instances of a custom hardware accelerator, which speeds up the computation of the forward kinematics equations of the robot required during the resolution of the inverse kinematics. This adaptable scheme provides run-time scalability in terms of trajectory accuracy, logic resources, dependability, and execution time. New design methodologies are used to unify the modeling of the software and hardware partitions of the controller while transparently providing adaptability. They are based on the dataflow Model of Computation (MoC), supported by the PREESM prototyping tool. This tool has been extended to support the use of dynamically reconfigurable hardware accelerators implemented using the ARTICo<sup>3</sup> framework. The proposal has been validated with a python-based robotic arm simulator. Experimental results show how the proposed parallelism, combined with hardware acceleration, enables the run-time resolution of the trajectory with adaptable performance using a Xilinx Zynq UltraScale+ MPSoC device.https://ieeexplore.ieee.org/document/9126798/Inverse kinematicsrobot armnelder-meadMPSoCparallelizationhardware acceleration |
| spellingShingle | Leonardo Suriano Andres Otero Alfonso Rodriguez Manuel Sanchez-Renedo Eduardo De La Torre Exploiting Multi-Level Parallelism for Run-Time Adaptive Inverse Kinematics on Heterogeneous MPSoCs IEEE Access Inverse kinematics robot arm nelder-mead MPSoC parallelization hardware acceleration |
| title | Exploiting Multi-Level Parallelism for Run-Time Adaptive Inverse Kinematics on Heterogeneous MPSoCs |
| title_full | Exploiting Multi-Level Parallelism for Run-Time Adaptive Inverse Kinematics on Heterogeneous MPSoCs |
| title_fullStr | Exploiting Multi-Level Parallelism for Run-Time Adaptive Inverse Kinematics on Heterogeneous MPSoCs |
| title_full_unstemmed | Exploiting Multi-Level Parallelism for Run-Time Adaptive Inverse Kinematics on Heterogeneous MPSoCs |
| title_short | Exploiting Multi-Level Parallelism for Run-Time Adaptive Inverse Kinematics on Heterogeneous MPSoCs |
| title_sort | exploiting multi level parallelism for run time adaptive inverse kinematics on heterogeneous mpsocs |
| topic | Inverse kinematics robot arm nelder-mead MPSoC parallelization hardware acceleration |
| url | https://ieeexplore.ieee.org/document/9126798/ |
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