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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Kameyama, M. Matsumoto, T. Egami, H. Higuchi, T. |
| Copyright Year | 1989 |
| Description | Author affiliation: Dept. of Electron Eng., Tohoku Univ., Sendai, Japan (Kameyama, M.; Matsumoto, T.; Egami, H.; Higuchi, T.) |
| Abstract | The authors present an LSI (large-scale integrated) circuit for high-speed inverse kinematics computation. They demonstrate that inverse kinematic solutions can be described by two-dimensional vector rotations and arc tangent operations and that these operations can be efficiently computed by the coordinate rotation digital computer (CORDIC) algorithms. The chip is fabricated using 1.5- mu m CMOS gate array technology, and the design of the arithmetic unit on the chip is based on the CORDIC algorithms. Pipelining is fully used in the processor to enhance the operating ration up to 100%. The resulting compact inverse kinematics processor is composed of the above chip and a few memory chips for program and data. The processor can be used for various kinds of manipulators. |
| Starting Page | 757 |
| Ending Page | 762 |
| File Size | 506866 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818619384 |
| DOI | 10.1109/ROBOT.1989.100075 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1989-05-14 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Large scale integration High performance computing Manipulators Closed-form solution Robot control Algorithm design and analysis Arithmetic Robot kinematics End effectors Hardware |
| Content Type | Text |
| Resource Type | Article |
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