Documenti accessibili
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Informazioni generali |
| Autore |
Juang, Ying-Shen; Sung, Tze-Yun; Ko, Lu-Ting; Li, Ching-Iang |
| Pubblicato |
InTech Open Access Publisher, 2013
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| edizione |
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| Volume |
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| Abstract |
This paper presents a novel architecture of a joint
angle processor for a robot arm. The objective of the
proposed coordinate, rotation, digital computer (CORDIC)‐
based joint angle processor is to provide a hardware solution
for computing the inverse kinematic for a robot arm control
system. The complicated trigonometry operation is
computed by the famous CORDIC algorithm. Simulation
results show that the proposed joint angle processor
achieves high precision. Moreover, an efficient pipelined
architecture for very large scale integration (VLSI) and field
programmable gate array (FPGA) implementation is also
proposed, this architecture has the advantage of saving
hardware cost and power consumption. As a result, the
proposed CORDIC‐based joint angle processor provides a
high speed inverse kinematic computation that assists the
main micro‐control‐unit (MCU) to operate the robot arm in
real time. Therefore, the motion of the robot will be very
smooth, capable of powering multiple joints at same time
and provide smooth walking or climbing motions. |
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International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Pubblicato: 2004
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