Title :
The application of bit-serial CORDIC computational units to the design of inverse kinematics processors
Author :
Harber, R.G. ; Hu, X. ; Li, J. ; Bass, S.C.
Author_Institution :
Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
C.S.G. Lee and P.R. Chang (1986) have shown how the mathematical and nonlinear function evaluation operations involved in the inverse kinematic solution for a six-joint manipulator could be re-expressed and reordered so as to allow their evaluation by an interconnection of CORDIC processors. The present authors describe the use of specialized, dedicated CORDIC processors, implemented in bit-serial form, to construct an inverse kinematics computational unit on a single VLSI chip
Keywords :
VLSI; digital arithmetic; kinematics; microprocessor chips; robots; VLSI; bit-serial CORDIC computational units; design; inverse kinematics processors; manipulator; microprocessor chip; nonlinear function; Actuators; Arithmetic; End effectors; Equations; Interpolation; Kinematics; Performance evaluation; Process design; Testing; Very large scale integration;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12217
