Access the full text.
Sign up today, get DeepDyve free for 14 days.
S. Rajan, Sichun Wang, R. Inkol, A. Joyal (2006)
Efficient approximations for the arctangent functionIEEE Signal Process. Mag., 23
Y. Kung, R. Fung, Ting-Yu Tai (2009)
Realization of a Motion Control IC for $X{-}Y$ Table Based on Novel FPGA TechnologyIEEE Transactions on Industrial Electronics, 56
Yan Li, Jingyi Huo, Xin Li, Jin Wen, Yaohui Wang, Bin Shan (2010)
An open-loop Sin microstepping driver based on FPGA and the co-simulation of Modelsim and Simulink2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, 6
Jadran Lenar, J. Lenarcic (2000)
Advances in Robot Kinematics
C. Kowalski, J.D. Lis (2010)
Speed sensorless DTC control of the induction motor using FPGA implementationCompel-the International Journal for Computation and Mathematics in Electrical and Electronic Engineering, 29
A. Ukil, V. Shah, B. Deck (2011)
Fast computation of arctangent functions for embedded applications: A comparative analysis2011 IEEE International Symposium on Industrial Electronics
Y. Kung, V. Nguyen, Chung-Chun Huang, Liang-Chiao Huang (2011)
Simulink/ModelSim co-simulation of sensorless PMSM speed controller2011 IEEE Symposium on Industrial Electronics and Applications
E. Monmasson, L. Idkhajine, M. Cirstea, I. Bahri, A. Tisan, M. Naouar (2011)
FPGAs in Industrial Control ApplicationsIEEE Transactions on Industrial Informatics, 7
Jesús Lázaro, A. Astarloa, J. Arias, U. Bidarte, A. Zuloaga (2006)
Simulink/Modelsim Simulabel VHDL PID Core for Industrial SoPC Multiaxis ControllersIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Purpose – The inverse kinematics in robot manipulator have to handle the arctangent and arccosine function. However, the two functions are complicated and need much computation time so that it is difficult to be realized in the typical processing system. The purpose of this paper is to solve this problem by using Field Programmable Gate Array (FPGA) to speed up the computation power. Design/methodology/approach – The Taylor series expansion method is firstly applied to transfer arctangent and arccosine function to a polynomial form. And Look-Up Table (LUT) is used to store the parameters of the polynomial form. Then the behavior of the computation algorithm is described by Very high-speed IC Hardware Description Language (VHDL) and a co-simulation using ModelSim and Simulink is applied to evaluate the correctness of the VHDL code. Findings – The computation time of arctangent and arccosine function using by FPGA need only 320 and 420 ns, respectively, and the accuracy is <0.01°. Practical implications – Fast computation in arctangent and arccosine function can speed up the motion response of the real robot system when it needs to perform the inverse kinematics function. Originality/value – This is the first time such to combine the Taylor series method and LUT method in the computation the arctangent and arccosine function as well as to implement it with FPGA.
Engineering Computations: International Journal for Computer-Aided Engineering and Software – Emerald Publishing
Published: Oct 28, 2014
Read and print from thousands of top scholarly journals.
Already have an account? Log in
Bookmark this article. You can see your Bookmarks on your DeepDyve Library.
To save an article, log in first, or sign up for a DeepDyve account if you don’t already have one.
Copy and paste the desired citation format or use the link below to download a file formatted for EndNote
Access the full text.
Sign up today, get DeepDyve free for 14 days.
All DeepDyve websites use cookies to improve your online experience. They were placed on your computer when you launched this website. You can change your cookie settings through your browser.