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
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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.
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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.
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