空间机器人坐标逆变换超高速算法

A SUPER-HIGH-SPEED ALGORITHM OF COORDINATE INVERSION FOR SPACE ROBOT

摘要: 本文提出了从机械手末端位置及姿势求出各关节转角的坐标逆变换超高速算法^[2]．这种算法是以CORDIC算法为基础的，首先将坐标逆变换转化成坐标的旋转移动和反正切及其组合，然后用CORDIC算法来快速实现坐标旋转和反正切算法运算．这种超高速算法的最大特点是把坐标逆变换中复杂而无规则的非标准函数计算变成有规则的计算，从而容易实现坐标逆变换超高速专用处理器．
- 操作器 /
- CORDIC 算法 /
- 坐标逆变换 /
- 坐标旋转 /
- 反正切
Abstract: In this paper,a super-high-speed algorithm of coordinate inversion is outlined,which draws each joint rotative angle from the end-position and posture of manipulator.This algorithm is based on the CORDIC(Coordinate Rotation Digital Computation)algorithm.Its basic idea is to convert the coordinate inversion to the combination of coordinate rotation and arctangent which is implemented with the CORDIC algorithm rapidly.The most obvious characteristics of the algorithm is converting the sophisticated,irregular and non-standard function computation in coordinate inversion to regular computation.In this way a high-speed and special purpose computer based on the algorithm can be realized easily.
- manipulator /
- CORDIC algorithm /
- coordinate inversion /
- coordinate rotation /
- arctangent

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