洪炳镕, 李立新, 姜辉. 空间机器人坐标逆变换高速专用处理机体系结构及其仿真系统的研究[J]. 机器人, 1993, 15(6): 43-47..
HONG Bingrong, LI Lisin, JIANG Hui. THE HIGH SPEED SPECIAL-PURPOSE COMPUTER ARCHITECTURE FOR COORDINATE INVERSION OF SPACE ROBOT AND ITS EMULATION SYSTEM. ROBOT, 1993, 15(6): 43-47..
Abstract：In this paper,a high speed computer architecture for coordinate inversion is presented,which is used forsix-degree of freedon joint manipulator.This architecture is based on CORDIC algorithm.It abandons thetraditional resolver idea,and treates coordinate rotation and arctangent operation as basic unit.this architecture has three CPU and it works in parallel,which makes the processing speed of coordinate inversion for manipulator improved greatly.
