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

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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>