NDLI: Fixed-point computation of robot kinematics in FPGA

Content Provider	IEEE Xplore Digital Library
Author	Min-Kuang Wu Ying-Shieh Kung Yi-Hsien Huang Tz-Han Jung
Copyright Year	2014
Description	Author affiliation: Southern Taiwan Univ. of Sci. & Technol., Tainan, Taiwan (Min-Kuang Wu)
Abstract	Forward and inverse kinematic modeling is essential in trajectory planning for robot manipulators. An approach based on fixed-point format is presented in this paper to accelerate computation. Kinematics of a common industrial robot with last three axes intersecting at a point is first modeled in a form of closed-form solution. A method which integrates look-up tables and angle sum relationships for sine and cosine functions is used to compute trigonometric functions. Also, fourth order series with its coefficients stored in look-up tables is used to calculate inverse trigonometric and square root functions. The presented approach is intended to be applied in FPGA due to its extremely fast computation speed. Its VHDL code is written in ModelSim, which constitutes a simulation block called by SimuLink software. All variables and parameters are represented and calculated in fixed-point format. It shows that the results are almost as accurate as those from a double precision version written in Labview. Acceptable accuracy is still maintained even when robot manipulator is very close to singularities. Further, computation speed is very fast. It takes only 3μs for forward kinematics and 4.5μs for inverse kinematics to complete the computation.
Starting Page	35
Ending Page	40
File Size	360218
Page Count	6
File Format	PDF
e-ISBN	9781479958467
DOI	10.1109/ARIS.2014.6871523
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-06-06
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Decision support systems Computer aided software engineering Robot kinematics Kinematics Table lookup Joints
Content Type	Text
Resource Type	Article

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