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| THE HIGH SPEED SPECIAL-PURPOSE COMPUTER ARCHITECTURE FOR COORDINATE INVERSION OF SPACE ROBOT AND ITS EMULATION SYSTEM |
| HONG Bingrong, LI Lisin, JIANG Hui |
| Harbin Institute of Technolosy 150006 |
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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.
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Received: 30 May 1992
Published: 15 November 1993
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