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Towards hardware-software co-design: a case study of robot arm controller

Auteur(s) : M. Abid, A. A. Jerraya

Journal : Journal of Microelectronic System Integration

Volume : 5

Issue : 3

Pages : 167-182

This paper highlights the notable features of hardware/software co-design, concentrating on the exploration, of the hardware/software design space. The electronic system is specified not only by a set of tasks but also by performances and constraints dependent on the application context. The exploration makes use of metrics for performance analysis. Within this paper, the analysis is illustrated using an example: a real-time robot arm controller. This system is used to control several motors in real-time while avoiding move breaks. The controller makes use of an adaptive speed control in real-time. Several architectural solutions are discussed with regard to their performance and cost. The goal is to select the best solution that satisfies the real-time constraints and minimizes the cost. The solution chosen has been achieved and implemented.