TY - JOUR
T1 - Efficient FPGA hardware implementation for robot manipulator kinematic modeling using rational trigonometry
AU - Martinez Peralta, Rogelio
AU - Zamora Gomez, Erik
AU - Sossa Azuela, Juan Humberto
N1 - Publisher Copyright:
© 2003-2012 IEEE.
PY - 2019/9
Y1 - 2019/9
N2 - A common approach to model kinematics for robot manipulators uses functions such as sin(), cos() and atan(),however, the rational trigonometry allows to exclude the use of these transcendental functions. Most of the computing processing to control a manipulator is dedicated to solving its kinematics, therefore, reduce the complexity of kinematic equations leads to a more compact and efficient model. In this paper, we propose a geometric analysis to solve the kinematics of robot manipulator of up to three degrees of freedom, avoiding the use of transcendental functions in the kinematic equations. We present three kinematic models for the mechanism positions and theirimplementations in an FPGA. The experimental results show that our proposed models: 1) use less logic elements compared with an implementation based on parallel CORDIC and 2) has lower latency respect with iterative CORDIC implementation.
AB - A common approach to model kinematics for robot manipulators uses functions such as sin(), cos() and atan(),however, the rational trigonometry allows to exclude the use of these transcendental functions. Most of the computing processing to control a manipulator is dedicated to solving its kinematics, therefore, reduce the complexity of kinematic equations leads to a more compact and efficient model. In this paper, we propose a geometric analysis to solve the kinematics of robot manipulator of up to three degrees of freedom, avoiding the use of transcendental functions in the kinematic equations. We present three kinematic models for the mechanism positions and theirimplementations in an FPGA. The experimental results show that our proposed models: 1) use less logic elements compared with an implementation based on parallel CORDIC and 2) has lower latency respect with iterative CORDIC implementation.
KW - FPGA
KW - Kinematics
KW - Rational Trigonometry
KW - Robotics
KW - Transcendental functions
UR - http://www.scopus.com/inward/record.url?scp=85076636271&partnerID=8YFLogxK
U2 - 10.1109/TLA.2019.8931147
DO - 10.1109/TLA.2019.8931147
M3 - Artículo
AN - SCOPUS:85076636271
SN - 1548-0992
VL - 17
SP - 1524
EP - 1536
JO - IEEE Latin America Transactions
JF - IEEE Latin America Transactions
IS - 9
M1 - 8931147
ER -