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History of Robotics Research and Development of Japan1989Integration, Intelligence, etc.Development of a High-Speed Coordinate Transformation LSI for Manipulators

Michiataka KameyamaFaculty of Engineering, Tohoku University
Tatsuo HiguchiFaculty of Engineering, Tohoku University
Takao MatsumotoFaculty of Engineering, Tohoku University
Hideki EgamiFaculty of Engineering, Tohoku University
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.  
座標逆変換プロセッサＬＳＩ
Processor LSI for Inverse Kinematics Computation
開発された座標変換プロセッサボードを用いた処理
Computation by the Developed Coordinate Transformation Processor　Board

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