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    題名: FPGA realisation of inverse kinematics for biped robot based on CORDIC
    作者: Ching-Chang Wong;Chih-Cheng Liu
    日期: 2013-02-28
    上傳時間: 2018-03-02 12:14:30 (UTC+8)
    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.
    關聯: Electronics Letters 49(5), p.332-334
    顯示於類別:[電機工程學系暨研究所] 期刊論文

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    FPGA Realization of Inverse Kinematics for Biped Robot Based on CORDIC.pdf150KbAdobe PDF25檢視/開啟
    Journal201302_ELL-FPGA Realization of Inverse Kinematics for Biped Robot Based on CORDIC.pdf785KbAdobe PDF0檢視/開啟

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