SPECIFIC VLSI CHIP AND DESIGN SYSTEM FOR ROBOT

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.