Open AccessFPGA realisation of inverse kinematics for biped robot based on CORDIC
Author(s) -
Wong C.C.,
Liu C.C.
Publication year - 2013
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
ISSN - 1350-911X
DOI - 10.1049/el.2012.4280
Subject(s) - field programmable gate array , realisation , inverse kinematics , cordic , inverse , hyperbolic function , kinematics , computer science , robot kinematics , control theory (sociology) , robot , mathematics , embedded system , physics , mathematical analysis , artificial intelligence , geometry , mobile robot , control (management) , classical mechanics , quantum mechanics
A FPGA realisation structure based on CORDIC is proposed to implement inverse kinematics for a biped robot. First, the angle equations of inverse kinematics for the biped robot are described. Based on these equations represented by the inverse tangent function, a FPGA structure based on two CORDIC operators of circular vectoring and hyperbolic vectoring is proposed and implemented on a FPGA chip. Finally, comparison of the proposed FPGA realisation and the software realisation to calculate these angle equations is presented to illustrate the effectiveness of the proposed structure.