Behavior-Based Approach for Calculation of a Robot Arm’s Inverse Kinematics on a FPGA

Conference: ISR 2018 - 50th International Symposium on Robotics
06/20/2018 - 06/21/2016 at München, Germany

Proceedings: ISR 2018

Pages: 8Language: englishTyp: PDF

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Koepper, Alexander; Berns, Karsten (Technische Universität Kaiserslautern, Kaiserslautern, Germany)

Behavior-based systems have proven to be a robust and fast method for the control of mobile robots. As we have shown in a previous paper, the implementation of certain parts of such networks on a FPGA is beneficial for the system. In this paper, we will further evaluate the existing design rules of the iB2C-architecture for their usage on FPGAs and present a modified exemplary system for the calculation of the inverse kinematics of a robot arm, which is tailored for the implementation on a FPGA. Furthermore, the differences of the original and the modified approach are discussed and further use-cases are presented.