Implementing kinematics computation in FPGA co-processor for a 6-DOF space manipulator |
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Authors: | Zheng Yili Sun Hanxu Jia Qingxuan Shi Guozhen |
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Affiliation: | Zheng Yili Sun Hanxu Jia Qingxuan Shi Guozhen (School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,P.R.China) |
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Abstract: | Based on the coordinate rotation digital computer(CORDIC)algorithm,the high-speed kinematics calculation for a six degree of freedom(DOF)space manipulator is implemented in a field programmable gate array(FPGA)co-processor.A pipeline architecture is adopted to reduce the complexity and time- consumption of the kinematics calculation .The CORDIC soft-core and the CORDIC-based pipelined kine- matics calculation co-processor are described with the very-high-speed integrated circuit hardware descrip- tion langu... |
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Keywords: | Space manipulator coordinate rotation digital computer (CORDIC) kinematics field programmable gate array (FPGA) |
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