Studies performed on a recently developed adaptive control algorithm for high performance robots have shown that for an effective implementation, hardware must efficiently support U0 and complex decision making operations. General purpose digital signal processors, with their emphasis on high speed arithmetic computations, do not adequately serve the needs of adaptive control and similar applications. As an alternative, we have generated a custom circuit for a cost-effective implementation of the algorithm. The generation of the custom circuit is based on a customizable digital signal processor embedded inside a CAD framework for application specific ICs. With this approach, customized versions of the processor are automatically generated from high-level descriptions of algorithms.
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