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

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.