Comparison of GPGPU based robotic manipulator with other embedded controllers

Syed Tahir Hussain Rizvi; Gianpiero Cabodi; Denis Patti; Muhammad Majid Gulzar

doi:10.1109/DAAS.2016.7492540

Comparison of GPGPU based robotic manipulator with other embedded controllers

Syed Tahir Hussain Rizvi, Gianpiero Cabodi, Denis Patti, Muhammad Majid Gulzar

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

Industrial and robotic controllers have to execute various complex independent tasks repeatedly in real time. In order to implement these algorithms with non-linear equations, massive computational power is required in a motion control system. In this paper, inverse kinematics algorithm is selected as a test algorithm to compare performance of General Purpose Graphics Processing Unit (GPGPU) with other widely used sequential and concurrent controllers. Inverse Kinematics algorithm is implemented sequentially in Arduino Due microcontroller and FPGA is used for concurrent implementation where algorithm is designed in VHDL using combinational division. Execution speeds of these controllers are compared with NVIDIA Quadro K2200 GPU programmed with CUDA Parallel Computing Architecture. Results validated that using computational power of GPU, execution time of large independent tasks is significantly decreased.

Original language	English
Title of host publication	2016 13th International Conference on Development and Application Systems, DAS 2016 - Conference Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	10-15
Number of pages	6
ISBN (Electronic)	9781509019939
DOIs	https://doi.org/10.1109/DAAS.2016.7492540
State	Published - 15 Jun 2016
Externally published	Yes
Event	13th International Conference on Development and Application Systems, DAS 2016 - Suceava, Romania Duration: 19 May 2016 → 21 May 2016

Publication series

Name	2016 13th International Conference on Development and Application Systems, DAS 2016 - Conference Proceedings

Conference

Conference	13th International Conference on Development and Application Systems, DAS 2016
Country/Territory	Romania
City	Suceava
Period	19/05/16 → 21/05/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

Concurrent Computing
Field Programmable Gate Arrays
Manipulators
Microcontrollers
Performance Analysis
Robot Kinematics

ASJC Scopus subject areas

Energy Engineering and Power Technology
Electrical and Electronic Engineering

Access to Document

10.1109/DAAS.2016.7492540

Cite this

Rizvi, S. T. H., Cabodi, G., Patti, D., & Gulzar, M. M. (2016). Comparison of GPGPU based robotic manipulator with other embedded controllers. In 2016 13th International Conference on Development and Application Systems, DAS 2016 - Conference Proceedings (pp. 10-15). Article 7492540 (2016 13th International Conference on Development and Application Systems, DAS 2016 - Conference Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/DAAS.2016.7492540

Rizvi, Syed Tahir Hussain ; Cabodi, Gianpiero ; Patti, Denis et al. / Comparison of GPGPU based robotic manipulator with other embedded controllers. 2016 13th International Conference on Development and Application Systems, DAS 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 10-15 (2016 13th International Conference on Development and Application Systems, DAS 2016 - Conference Proceedings).

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Rizvi, STH, Cabodi, G, Patti, D & Gulzar, MM 2016, Comparison of GPGPU based robotic manipulator with other embedded controllers. in 2016 13th International Conference on Development and Application Systems, DAS 2016 - Conference Proceedings., 7492540, 2016 13th International Conference on Development and Application Systems, DAS 2016 - Conference Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 10-15, 13th International Conference on Development and Application Systems, DAS 2016, Suceava, Romania, 19/05/16. https://doi.org/10.1109/DAAS.2016.7492540

Comparison of GPGPU based robotic manipulator with other embedded controllers. / Rizvi, Syed Tahir Hussain; Cabodi, Gianpiero; Patti, Denis et al.
2016 13th International Conference on Development and Application Systems, DAS 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 2016. p. 10-15 7492540 (2016 13th International Conference on Development and Application Systems, DAS 2016 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Industrial and robotic controllers have to execute various complex independent tasks repeatedly in real time. In order to implement these algorithms with non-linear equations, massive computational power is required in a motion control system. In this paper, inverse kinematics algorithm is selected as a test algorithm to compare performance of General Purpose Graphics Processing Unit (GPGPU) with other widely used sequential and concurrent controllers. Inverse Kinematics algorithm is implemented sequentially in Arduino Due microcontroller and FPGA is used for concurrent implementation where algorithm is designed in VHDL using combinational division. Execution speeds of these controllers are compared with NVIDIA Quadro K2200 GPU programmed with CUDA Parallel Computing Architecture. Results validated that using computational power of GPU, execution time of large independent tasks is significantly decreased.

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Rizvi STH, Cabodi G, Patti D, Gulzar MM. Comparison of GPGPU based robotic manipulator with other embedded controllers. In 2016 13th International Conference on Development and Application Systems, DAS 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc. 2016. p. 10-15. 7492540. (2016 13th International Conference on Development and Application Systems, DAS 2016 - Conference Proceedings). doi: 10.1109/DAAS.2016.7492540

Comparison of GPGPU based robotic manipulator with other embedded controllers

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this