The application of bit-serial CORDIC computational units to the design of inverse kinematics processors

6 January 2003

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

p. 1152-1157
https://doi.org/10.1109/robot.1988.12217

Abstract

C.S.G. Lee and P.R. Chang (1986) have shown how the mathematical and nonlinear function evaluation operations involved in the inverse kinematic solution for a six-joint manipulator could be re-expressed and reordered so as to allow their evaluation by an interconnection of CORDIC processors. The present authors describe the use of specialized, dedicated CORDIC processors, implemented in bit-serial form, to construct an inverse kinematics computational unit on a single VLSI chip.<>

Keywords

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