FPGA realisation of inverse kinematics for biped robot based on CORDIC
學年 101
學期 2
出版（發表）日期 2013-02-28
作品名稱 FPGA realisation of inverse kinematics for biped robot based on CORDIC
作品名稱（其他語言）
著者 Ching-Chang Wong; Chih-Cheng Liu
單位
出版者
著錄名稱、卷期、頁數 Electronics Letters 49(5), p.332-334
摘要 An FPGA realisation structure based on CORDIC is proposed to implement inverse kinematics for a biped robot. First, the angle equations of inverse kinematics for the biped robot are described. Based on these equations represented by the inverse tangent function, the FPGA structure based on two CORDIC operators of circular vectoring and hyperbolic vectoring is proposed and implemented on an FPGA chip. Finally, the comparison of the proposed FPGA realisation and the software realisation to calculate these angle equations is presented to illustrate the effectiveness of the proposed structure.
關鍵字
語言 en
ISSN 00135194
期刊性質 國外
收錄於 SCI
產學合作
通訊作者
審稿制度 是
國別 GBR
公開徵稿
出版型式 ,電子版
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/112841 )