A reconfigurable system approach to the direct kinematics of a 5 d.o.f robotic manipulator

Registro completo de metadados
MetadadosDescriçãoIdioma
Autor(es): dc.creatorSánchez Gómez, Diego Felipe-
Autor(es): dc.creatorMuñoz Arboleda, Daniel Mauricio-
Autor(es): dc.creatorLlanos Quintero, Carlos Humberto-
Autor(es): dc.creatorMotta, José Maurício Santos Torres da-
Data de aceite: dc.date.accessioned2021-10-14T18:44:12Z-
Data de disponibilização: dc.date.available2021-10-14T18:44:12Z-
Data de envio: dc.date.issued2013-03-04-
Data de envio: dc.date.issued2013-03-04-
Data de envio: dc.date.issued2010-
Fonte completa do material: dc.identifierhttp://repositorio.unb.br/handle/10482/12309-
Fonte: dc.identifier.urihttp://educapes.capes.gov.br/handle/capes/638756-
Descrição: dc.descriptionHardware acceleration in high performance computer systems has a particular interest for many engineering and scientific applications in which a large number of arithmetic operations and transcendental functions must be computed. In this paper a hardware architecture for computing direct kinematics of robot manipulators with 5 degrees of freedom (5 D.o.f ) using floatingpoint arithmetic is presented for 32, 43, and 64 bit-width representations and it is implemented in Field ProgrammableGate Arrays (FPGAs). The proposed architecture has been developed using several floating-point libraries for arithmetic and transcendental functions operators, allowing the designer to select (pre-synthesis) a suitable bit-width representation according to the accuracy and dynamic range, as well as the area, elapsed time and power consumption requirements of the application. Synthesis results demonstrate the effectiveness and high performance of the implemented cores on commercial FPGAs. Simulation results have been addressed in order to compute the Mean Square Error (MSE), using the Matlab as statistical estimator, validating the correct behavior of the implemented cores. Additionally, the processing time of the hardware architecture was compared with the same formulation implemented in software, using the PowerPC (FPGA embedded processor), demonstrating that the hardware architecture speeds-up by factor of 1298 the software implementation.-
Formato: dc.formatapplication/pdf-
Publicador: dc.publisherHindawi Publishing Corporation-
Direitos: dc.rightsAcesso Aberto-
Direitos: dc.rightsCopyright © 2010 Diego F. Sánchez et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Fonte: http://www.hindawi.com/journals/ijrc/2010/727909/. Acesso em: 04 mar. 2013.-
Palavras-chave: dc.subjectCinemática das máquinas-
Palavras-chave: dc.subjectComputação - robótica-
Título: dc.titleA reconfigurable system approach to the direct kinematics of a 5 d.o.f robotic manipulator-
Tipo de arquivo: dc.typelivro digital-
Aparece nas coleções:Repositório Institucional – UNB

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