A maximum pipelined CORDIC architecture for inverse kinematic position computation

Lee, C.S.; Chang, Po‐Rong

doi:10.1109/jra.1987.1087126

Cited by 49 publications

(19 citation statements)

References 16 publications

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“…The CORDIC approach is valuable to find the inverse kinematic solution when a closed form solution is possible (when, in particular, the desired tool tip position is within the robot's work envelope and when joint angle limits are not violated). The authors in [101] present a maximum pipelined CORDIC-based architecture for efficient computation of the inverse kinematics solution. It is also shown [101], [102] that up to 25 CORDIC processors are required for the computation of the entire inverse kinematics solution for a six-link PUMA-type robotic arm.…”

Section: ) Direct Kinematics Solution (Dks) For Serial Robot Manipulmentioning

confidence: 99%

“…The authors in [101] present a maximum pipelined CORDIC-based architecture for efficient computation of the inverse kinematics solution. It is also shown [101], [102] that up to 25 CORDIC processors are required for the computation of the entire inverse kinematics solution for a six-link PUMA-type robotic arm. Apart from implementation of rotation operations, CORDIC is used in the evaluation of trigonometric functions and square root expressions involved in the inverse kinematics problems [103].…”

Section: ) Direct Kinematics Solution (Dks) For Serial Robot Manipulmentioning

confidence: 99%

See 1 more Smart Citation

50 Years of CORDIC: Algorithms, Architectures, and Applications

Meher

Valls

Juang

et al. 2009

IEEE Trans. Circuits Syst. I

457

198

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Section: ) Direct Kinematics Solution (Dks) For Serial Robot Manipulmentioning

confidence: 99%

Section: ) Direct Kinematics Solution (Dks) For Serial Robot Manipulmentioning

confidence: 99%

50 Years of CORDIC: Algorithms, Architectures, and Applications

Meher

Valls

Juang

et al. 2009

IEEE Trans. Circuits Syst. I

457

198

View full text Add to dashboard Cite

“…Recognizing the computational needs of robotics control, many researchers in the robotics community have been devoting considerable effort to developing special architectures for robotics applications [NiLe85,LeCh87,OrTs86,WaBu87]. These efforts, however, are based on the traditional SIC design approach.…”

Section: Chaptermentioning

confidence: 99%

ASIC System Design with VHDL: A Paradigm

Leung¹,

Shanblatt²

1989

The Kluwer International Series in Engineering and Computer Science

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Logic Minimization Algorithms jor VLSI Synthesis. R.K. Brayton, 0.0. Hachtel, C.T. McMullen, and A.L. Sangiovanni-Vincentelli. ISBN 0-89838-164-9. Adaptive Filters: Structures, Algorithms, and Applications. M.L. Honig and D.O. Messerschmitt. ISBN 0-89838-163-0. Introduction to VLSI Silicon Devices: Physics, Technology and Characterization. B. El-Kareh and R.I. Bombard. ISBN 0-89838-210-6. Latchup in CMOS Technology: The Problem and Its Cure. R.R. Troutman. ISBN 0-89838-215-7. Digital CMOS Circuit Design. M. Annaratone. ISBN 0-89838-224-6. The Bounding Approach to VLSI Circuit Simulation. C.A. Zukowski. ISBN 0-89838-176-2. Multi-Level Simulationjor VLSI Design. D.O. Hill and D.R. Coelho. ISBN 0-89838-184-3. RelQXlltion Techniques jor the Simulation oj VLSI Circuits. 1. White and A. Sangiovanni-Vincentelli. ISBN 0-89838-186-X. VLSI CAD Tools and Applications. W. Fichtner and M. Morf, editors. ISBN 0-89838-193-2. A VLSI Architecturejor Concurrent Data Structures. W.l. Dally. ISBN 0-89838-235-1. Yield Simulation jor Integrated Circuits. D.M.H. Walker. ISBN 0-89838-244-0.

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“…One possibility to speed up a given algorithm is to use special hardware to implement its basic operations. This is the line followed, for instance, by Lee and Chang, 1987, using the CORDIC architecture. In this work, the inverse kinematics of a particular mechanism is analytically solved and the resulting equations are efficiently implemented using the special operations provided by the CORDIC processors.…”

Section: Introductionmentioning

confidence: 99%

Isolating Self-Motion Manifolds on a PlaystationTM

Porta

Ros

Thomas

2004

On Advances in Robot Kinematics

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In this paper, we show how it is possible to use the specialized hardware of a Play Station 2 (PS2) to speed up the execution of the Cuik algorithm, an interval-based inverse kinematics algorithm. A PS2 includes a RISC CPU and two parallel vector units able to perform four floating point multiplications and four additions in a single cycle. A careful use of these two vector units to implement the basic operations of the Cuik algorithms allows increasing the speed of the algorithm in one order of magnitude. The final implementation in the PS2 is as fast as that in a Pentium 4 at 2.6GHz (that is at least three times more expensive than a plain PS2).

show abstract

A maximum pipelined CORDIC architecture for inverse kinematic position computation

Cited by 49 publications

References 16 publications

50 Years of CORDIC: Algorithms, Architectures, and Applications

50 Years of CORDIC: Algorithms, Architectures, and Applications

ASIC System Design with VHDL: A Paradigm

Isolating Self-Motion Manifolds on a PlaystationTM

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