Abstract
This paper introduces the use of CORDIC processors for the fast implementation of the kinematics of robotic manipulators. Each rotation and translation of the links is implemented independently. Rotation processing elements incorporate one CORDIC rotor. The overall systolic architecture is derived by cascading the rotation and translation processing elements and pipelining the array. The use of CORDIC processors results in simple, hardware-efficient, fast, and VLSI suitable implementations of the kinematic equations appropriate for runtime operation.
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© 1992 Springer Science+Business Media Dordrecht
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Mertzios, V.B.G., Scarlatos, S.S. (1992). Fast Implementation of Robotic Manipulator Kinematics using Cordic and Systolic Processors. In: Tzafestas, S.G. (eds) Robotic Systems. Microprocessor-Based and Intelligent Systems Engineering, vol 10. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2526-0_3
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DOI: https://doi.org/10.1007/978-94-011-2526-0_3
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-5115-6
Online ISBN: 978-94-011-2526-0
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