ロボティクス応用に向けた順運動学プロセッサのVLSIアーキテクチャ
VLSI Architectures of Forward Kinematic Processor for Robotics Applications
ロボットの順運動学計算をVLSIで実装する各種手法（CORDIC、DSPチップ、並列・パイプライン、LUT、FPGA）を調査し、FPGAによるリアルタイム向けプロセッサ開発の指針を示したレビュー論文。
著者: Sourav Roy, Subhadeep Paul, Tapas Kumar Maiti
分類: cs.RO
原文アブストラクト
This paper aims to get a comprehensive review of current-day robotic computation technologies at VLSI architecture level. We studied several repots in the domain of robotic processor architecture. In this work, we focused on the forward kinematics architectures which consider CORDIC algorithms, VLSI circuits of WE DSP16 chip, parallel processing and pipelined architecture, and lookup table formula and FPGA processor. This study gives us an understanding of different implementation methods for forward kinematics. Our goal is to develop a forward kinematics processor with FPGA for real-time applications, requires a fast response time and low latency of these devices, useful for industrial automation where the processing speed plays a great role.