首页|期刊导航|高技术通讯（英文版）|Implementing kinematics computation in FPGA co-processor for a 6-DOF space manipulator
高技术通讯（英文版）2009，Vol.15Issue(3)：250-254,5.DOI:10.3772/j.issn.1006-6748.2009.03.005
Implementing kinematics computation in FPGA co-processor for a 6-DOF space manipulator
Implementing kinematics computation in FPGA co-processor for a 6-DOF space manipulator
摘要
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 kinematics calculation co-processor are described with the very-high-speed integrated circuit hardware description language (VHDL) language and realized in the FPGA. Finally, the feasibility of the design is validated in the Spartan-3 FPGA of Xilinx Inc., and the performance specifications of FPGA co-processor are discussed. The results show that time-consumption of the kinematics calculation is greatly reduced.关键词
Space manipulator/ coordinate rotation digital computer (CORDIC)/ kinematics/ field programmable gate array (FPGA)Key words
Space manipulator/ coordinate rotation digital computer (CORDIC)/ kinematics/ field programmable gate array (FPGA)分类
信息技术与安全科学引用本文复制引用
Zheng Yili ,Sun Hanxu,Jia Qingxuan,Shi Guozhen..Implementing kinematics computation in FPGA co-processor for a 6-DOF space manipulator[J].高技术通讯（英文版）,2009,15(3):250-254,5.基金项目
Supported by the High Technology Research and Development Programme of China (No. 2005AA742050). （No. 2005AA742050）
