An LSI for high-speed inverse kinematics computation is develped for robot manipulators. The chip is fabricated with the 1.5μm CMOS gate array, The inverse kinematic solutions can be described by the 2-dimensional vector rotations. The arithmetci unit on the chip is designed using the COordinate Rotation DIgital Compter(CORDIC) algorithms, and it performs six types of operations based on the 2-dimensional vector rotation at high speed. Pipelining is used to enhance the operating ratio of the arithmetic unit to 100%. The computation time of a special purpose processor which is composed of the chip and a few memory chips is approximately 50 μsec for a typical six degree-or-freecom manipulator.
1th RSJ Technical Award in 1990.