THE HIGH SPEED SPECIAL-PURPOSE COMPUTER ARCHITECTURE FOR COORDINATE INVERSION OF SPACE ROBOT AND ITS EMULATION SYSTEM
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摘要: 本文论述了基于CORDIC算法的6自由度多关节型机械手各关节转角的坐标逆变换高速专用处理机的体系结构方案．本方案抛弃了传统的解析设计思想，把坐标的旋转和反正切运算作为基本的处理对象，提出了以CORDIC算法为基础的多CPU全并行的专用处理机体系结构，从而使机械手坐标逆变换处理时间大大缩短．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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