FPGA-Implementation of Inverse Kinematics and Servo Controller for Robot Manipulator

@article{Kung2006FPGAImplementationOI,
  title={FPGA-Implementation of Inverse Kinematics and Servo Controller for Robot Manipulator},
  author={Ying-Shieh Kung and Kuan-Hsuan Tseng and Chia-Sheng Chen and Hau-Zen Sze and An-Peng Wang},
  journal={2006 IEEE International Conference on Robotics and Biomimetics},
  year={2006},
  pages={1163-1168}
}
The implementation of inverse kinematics and servo controller for robot manipulator using FPGA (field programmer gate array) is investigated in this paper. Firstly, the mathematical model and the servo controller of robot manipulator are described. Secondly, the inverse kinematics is formulated. Thirdly, the circuit design to implement the function of inverse kinematics and servo controller based on FPGA is introduced. To reduce the usage of the logic elements (LEs) in FPGA, a finite state… CONTINUE READING
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