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JANM-IK: Jacobian Argumented Nelder-Mead Algorithm for Inverse Kinematics and its Hardware Acceleration
Yang, Yuxin1,2; Chen, Xiaoming1; Han, Yinhe1
2024
发表期刊IEEE COMPUTER ARCHITECTURE LETTERS
ISSN1556-6056
卷号23期号:1页码:45-48
摘要Inverse kinematics is one of the core calculations in robotic applications and has strong performance requirements. Previous hardware acceleration work paid little attention to joint constraints, which can lead to computational failures. We propose a new inverse kinematics algorithm JANM-IK. It uses a hardware-friendly design, optimizes the Jacobian-based method and Nelder-Mead method, realizes the processing of joint constraints, and has a high convergence speed. We further designed its acceleration architecture to achieve high-performance computing through sufficient parallelism and hardware optimization. Finally, after experimental verification, JANM-IK can achieve a very high success rate and obtain certain performance improvements.
关键词Robotics inverse kinematics Jacobian nelder-mead software-hardware co-design accelerator
DOI10.1109/LCA.2024.3369940
收录类别SCI
语种英语
资助项目National Natural Science Foundation of China
WOS研究方向Computer Science
WOS类目Computer Science, Hardware & Architecture
WOS记录号WOS:001188283800004
出版者IEEE COMPUTER SOC
引用统计
文献类型期刊论文
条目标识符http://119.78.100.204/handle/2XEOYT63/38749
专题中国科学院计算技术研究所期刊论文_英文
通讯作者Chen, Xiaoming; Han, Yinhe
作者单位1.Chinese Acad Sci, Inst Comp Technol, Beijing 100045, Peoples R China
2.Univ Chinese Acad Sci, Beijing 101408, Peoples R China
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GB/T 7714
Yang, Yuxin,Chen, Xiaoming,Han, Yinhe. JANM-IK: Jacobian Argumented Nelder-Mead Algorithm for Inverse Kinematics and its Hardware Acceleration[J]. IEEE COMPUTER ARCHITECTURE LETTERS,2024,23(1):45-48.
APA Yang, Yuxin,Chen, Xiaoming,&Han, Yinhe.(2024).JANM-IK: Jacobian Argumented Nelder-Mead Algorithm for Inverse Kinematics and its Hardware Acceleration.IEEE COMPUTER ARCHITECTURE LETTERS,23(1),45-48.
MLA Yang, Yuxin,et al."JANM-IK: Jacobian Argumented Nelder-Mead Algorithm for Inverse Kinematics and its Hardware Acceleration".IEEE COMPUTER ARCHITECTURE LETTERS 23.1(2024):45-48.
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