Six-freedom degree robot kinematics CORDIC algorithm coprocessor

Abstract

The invention provides a coprocessor of six DOF robot kinematics CORDIC arithmetic, which replaces the robot kinematics direct and inverse solution which can only be completed by calculating a plurality of transcendental equations, and leads the calculation process of a plurality of transcendental equations to be simplified as operations such as addition, subtraction, shift, etc., which are convenient to be realized by hardware, thus greatly improving the calculation speed of the coprocessor.

Description

Six degrees of freedom robot kinematics CORDIC algorithm coprocessor technical field The invention relates to a coprocessor used for high-speed calculation in space robot control, in particular to a coprocessor for high-speed calculation of forward and reverse kinematics of a space robot based on a CORDIC algorithm, belonging to the field of space technology. Background technique As a complex of general machinery, electricity, computer control systems and artificial intelligence, space robots can perceive the external environment, and perform reasoning, judgment and decision-making. They can complete various tasks in unknown environments and are fully competent in space. job requirements. The tasks that space robots need to complete in the future are becoming more and more complex, which requires their central control computer to have sufficient processing power. At present, the main control computer of the ground robot is usually implemented by the ground high-speed emb...

AI Technical Summary

Problems solved by technology

Therefore, performing kinematics positive and negative solutions on the common space robot central control computer that only uses one main processor will take up more control time and system resources, and affect the real-time performance of the system.

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