Behavior-Based Local Path-Planning by Exploiting Inverse Kinematics on FPGA

The increasing complexity of today’s robot control systems brings more and more load on the control hardware. It is tempting, to relieve the classical main processor by shifting to a SoPC. In this paper, we show, how such a step can bring additional advantages, like high reactivity and real-time capability, especially in the use with behavior-based control. For this, we present a local path-planning algorithm, which we implemented on the FPGA-part of a SoPC and analyze its performance for the control of a 5-DOF robot arm.

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