机器人专用VLSI芯片及其设计系统

SPECIFIC VLSI CHIP AND DESIGN SYSTEM FOR ROBOT

摘要: 本课题目标是建立一个机器人VLSI专用芯片设计系统，并进行ROCO芯片（用于机器人正、反运动学，雅可比矩阵和动力学的实时计算）的设计和验证．

Abstract: The goal of this year is to set up a VLSI CAD system and accomplish the design of the ROCO chip(for robot DK₂,Iks, Jacobian, and dynamics real-time computing). The CAD system has been completed.After the architecture and logic design, we are working on the layout design of ROCO. The debuging and the simulation are also the everyday issues. Has passed the overall verification, a sub-module with moerthan 6000 transistors has beenbrought into fabrication.