Inverse kinematics computations with modified CORDIC iterations

IEE Proceedings: Computers and Digital Techniques

Volumn 143, Issue 1, 1996, Pages 87-92

  Krieger, C ^a   Hosticka, B J ^a  

^a FRAUNHOFER INSTITUTE FOR MICROELECTRONIC CIRCUITS AND SYSTEMS   (Germany)

Author keywords

Computations; CORDIC iterations; Inverse kinematics

Indexed keywords

ALGORITHMS; COMPUTATION THEORY; COMPUTATIONAL GEOMETRY; COMPUTER HARDWARE; END EFFECTORS; INVERSE KINEMATICS; ITERATIVE METHODS; MANIPULATORS; MATHEMATICAL TRANSFORMATIONS; RESPONSE TIME (COMPUTER SYSTEMS); VECTORS;

COMPUTATION TIME; CORDIC ITERATIONS; FUNCTIONALITY; INVERSE KINEMATICS COMPUTATIONS; JOINT ANGLE; PIPELINE ARITHMETIC PROCESSOR;

COMPUTER ARCHITECTURE;

EID: 0029777807     PISSN: 13502387     EISSN: None     Source Type: Journal    
DOI: 10.1049/ip-cdt:19960102     Document Type: Article

References (18)

1. UICKER, J., DENAVIT, J., and HARTENBERG, R.: 'An iterative method for the displacement analysis of spatial mechanisms', Trans. ASME. J. Appl. Mech., 1964, pp. 309-314
2. PAUL, R.P., SHIMANO, B., and MAYER, G.E.: 'Kinematic control equations for simple manipulators', IEEE Trans., 1981, SMC-11, (6)
3. PAUL, R.P., and ZONG, H.: 'Computationally efficient kinematics for manipulators with spherical wrists based on the homogeneous transformation representation', Int. J. Robotics Res., 1986, 5, (2)
4. LEE, H.Y., and LIANG, C.G.: 'A new vector theory for the analysis of spatial mechanisms', Mech. Mach. Theory, 1988, 23, (3), pp. 209-217
5. HILLER, M., and KECSKEMETHY, A.: 'Equations of motion of complex multibody systems using kinematical differentials', Trans. Can. Soc. Mech. Eng., 1989, 13, (4), pp. 113-121
6. KECSKEMETHY, A.: 'Object-oriented modelling of mechanical systems', Kinematics and dynamics of multi-body mechanical systems, CISM-Course, Italy, 1994
7. KECSKEMETHY, A., and HILLER, M.: 'Automatic closed-form kinematics-solution for recursive single-loop chains', 22nd biennial mechanisms conference, Scottsdale, Arizona, 1992
8. TIMMERMANN, D., RIX, B., HAHN, H., and HOSTICKA, B.J.: 'A CMOS floating-point vector arithmetic unit', IEEE J., 1995, SSC-29, (5)
9. LEE, C.S.G.: 'Robot arm kinematics, dynamics, and control', IEEE Comput., 1982, 15, (12), pp. 62-80
10. VOLDER, J.E.: 'The trigonometric computing techniques', Trans. Electr. Comput., 1959, EC-8, (3), pp. 330-334
11. WALTHER, J.S.: 'A unified algorithm for elementary functions', Spring joint computer conference (SJCC), 1971, pp. 379-385
12. HAVILAND, G., and TUSZYNSKI, A.: 'A CORDIC arithmetic processor chip', Trans. Comput., 1980, C-29, (2), pp. 68-79
13. ALFONS, DE LANGE, A.J., and DEPRETTERE, E.F.: 'Design and implementation of a floating-point quasisystolic general purpose CORDIC rotator for a high-rate parallel data and signal processing', IEEE Proceedings of the 10th symposium on computer arithmetic, France, 1991
14. TIMMERMANN, D., HAHN, H., and HOSTICKA, B.: 'Modified CORDIC-algorithm with reduced iterations', Electr. Lett., 1989, 25, (15)
15. DESPAIN, A.M.: 'Fourier transform computers usine CORDIC iterations', IEEE Trans., 1974, C-23, (10), pp. 993-1001
16. AHMED, H.M.: 'Signal processing algorithms and architectures'. PhD thesis, Department of Electrical Engineering, Stanford University, 1982
17. GROEBNER, W.: 'Matrizenrechung' (BI-Verlag, Mannheim (Germany), 1966)
18. DELOSME, J.M.: 'CORDIC algorithms: theory and extensions', in 'Advanced algorithms and architectures for signal processing', IVProc. SPIE, 1989, 1152, pp. 131-145