Implementing kinematics computation in FPGA co-processor for a 6-DOF space manipulator

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...