A Special-Purpose LSI for Inverse Kinematics Computation

Michitaka KAMEYAMA
Hideki EGAMI

IEICE TRANSACTIONS on Electronics   Vol.E74-C    No.11    pp.3829-3837
Publication Date: 1991/11/25
Online ISSN: 
Print ISSN: 0916-8516
Type of Manuscript: Special Section PAPER (Special Issue on the High Performance ASIC and Microprocessor)
Category: Dedicated Processors

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This paper presents a special-purpose LSI chip for inverse kinematics computation of robot manipulators. It is shown that inverse kinematic solutions of kinematically simple manipulators can be systematically described with the two-dimensional (2-D) vector rotation. The chip is fabricated with the 1.5-µm CMOS gate array. The arithmetic unit on the chip is designed using the COordinate Rotation DIgital Computer (CORDIC) algorithms, and it performs six types of operations based on the 2-D vector rotation at high speed. Pipelining is used to enhance the operating ratio of the unit to 100%. The computation time of a special purpose processor which is composed of the chip and a few memory chips is approximately 50 µs for a typical six degree-of-freedom manipulator. Moreover, the chip can be used for various types of manipulators, and the software development is very easy.