Implementation of the Parallel Manipulator Kinematics Direct Problem Solver on a Heterogeneous System

Abstract

The paper considers the implementation of a direct kinematics problem solver using one of the options for the numerical implementation of Kolmogorov's superposition, proposed by Sprecher and modified by Coppen. The idea of the solver is to create a dataset by solving the inverse kinematics problem, training a specific neural network on a high-performance computing cluster, and embedding the trained neural network into a low-power microprocessor that controls the manipulator. Implementation on a heterogeneous system made it possible to reduce the process of collecting a dataset with 2.108 records of to several minutes.