基于FPGA的机器人运动方程并行求解方法

IF 1.4 Q4 ROBOTICS
Deli Zhang, Shaohua Jiang, Liu Zhe
{"title":"基于FPGA的机器人运动方程并行求解方法","authors":"Deli Zhang, Shaohua Jiang, Liu Zhe","doi":"10.1155/2023/2426982","DOIUrl":null,"url":null,"abstract":"In the implementation of robot motion control, complex kinematic computations consume too much central processing unit (CPU) time and affect the responsiveness of robot motion. To solve this problem, this paper proposes a parallel method for solving kinematic equations of articulated robots based on the coordinate rotation digital computer (CORDIC) algorithm. The method completes the fast calculation of the transcendental function based on the CORDIC algorithm, adopts the tree structure method to optimize the key computational paths of forward and inverse solutions, and designs a parallel pipeline to realize the low latency and high throughput of the kinematic equations. The experiments of the proposed method are validated based on the field-programmable gate array (FPGA) hardware experimental platform, and the experimental results demonstrate that the computational time to complete the entire kinematic equations is 4.68 μs, of which the computational time for the kinematic positive solution is 0.52 μs and the computational time for the kinematic inverse solution is 4.16 μs.","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":"31 20","pages":"0"},"PeriodicalIF":1.4000,"publicationDate":"2023-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"The Parallel Solving Method of Robot Kinematic Equations Based on FPGA\",\"authors\":\"Deli Zhang, Shaohua Jiang, Liu Zhe\",\"doi\":\"10.1155/2023/2426982\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In the implementation of robot motion control, complex kinematic computations consume too much central processing unit (CPU) time and affect the responsiveness of robot motion. To solve this problem, this paper proposes a parallel method for solving kinematic equations of articulated robots based on the coordinate rotation digital computer (CORDIC) algorithm. The method completes the fast calculation of the transcendental function based on the CORDIC algorithm, adopts the tree structure method to optimize the key computational paths of forward and inverse solutions, and designs a parallel pipeline to realize the low latency and high throughput of the kinematic equations. The experiments of the proposed method are validated based on the field-programmable gate array (FPGA) hardware experimental platform, and the experimental results demonstrate that the computational time to complete the entire kinematic equations is 4.68 μs, of which the computational time for the kinematic positive solution is 0.52 μs and the computational time for the kinematic inverse solution is 4.16 μs.\",\"PeriodicalId\":51834,\"journal\":{\"name\":\"Journal of Robotics\",\"volume\":\"31 20\",\"pages\":\"0\"},\"PeriodicalIF\":1.4000,\"publicationDate\":\"2023-11-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Robotics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1155/2023/2426982\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Robotics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1155/2023/2426982","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0

摘要

在机器人运动控制的实现中,复杂的运动学计算消耗了过多的CPU时间,影响了机器人运动的响应性。为了解决这一问题,本文提出了一种基于坐标旋转数字计算机(CORDIC)算法求解关节机器人运动方程的并行方法。该方法基于CORDIC算法完成超越函数的快速计算,采用树形结构方法优化正解和反解的关键计算路径,并设计并行流水线实现运动方程的低延迟和高吞吐量。基于现场可编程门阵列(FPGA)硬件实验平台对所提方法进行了实验验证,实验结果表明,完成整个运动学方程的计算时间为4.68 μs,其中运动学正解的计算时间为0.52 μs,运动学逆解的计算时间为4.16 μs。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
The Parallel Solving Method of Robot Kinematic Equations Based on FPGA
In the implementation of robot motion control, complex kinematic computations consume too much central processing unit (CPU) time and affect the responsiveness of robot motion. To solve this problem, this paper proposes a parallel method for solving kinematic equations of articulated robots based on the coordinate rotation digital computer (CORDIC) algorithm. The method completes the fast calculation of the transcendental function based on the CORDIC algorithm, adopts the tree structure method to optimize the key computational paths of forward and inverse solutions, and designs a parallel pipeline to realize the low latency and high throughput of the kinematic equations. The experiments of the proposed method are validated based on the field-programmable gate array (FPGA) hardware experimental platform, and the experimental results demonstrate that the computational time to complete the entire kinematic equations is 4.68 μs, of which the computational time for the kinematic positive solution is 0.52 μs and the computational time for the kinematic inverse solution is 4.16 μs.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
CiteScore
3.70
自引率
5.60%
发文量
77
审稿时长
22 weeks
期刊介绍: Journal of Robotics publishes papers on all aspects automated mechanical devices, from their design and fabrication, to their testing and practical implementation. The journal welcomes submissions from the associated fields of materials science, electrical and computer engineering, and machine learning and artificial intelligence, that contribute towards advances in the technology and understanding of robotic systems.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信