Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm
Joint Authors
Kung, Ying-Shieh
Hai Linh, Bui Thi
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-08-27
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
When robot arm performs a motion control, it needs to calculate a complicated algorithm of forward and inverse kinematics which consumes much CPU time and certainty slows down the motion speed of robot arm.
Therefore, to solve this issue, the development of a hardware realization of forward and inverse kinematics for an articulated robot arm is investigated.
In this paper, the formulation of the forward and inverse kinematics for a five-axis articulated robot arm is derived firstly.
Then, the computations algorithm and its hardware implementation are described.
Further, very high speed integrated circuits hardware description language (VHDL) is applied to describe the overall hardware behavior of forward and inverse kinematics.
Additionally, finite state machine (FSM) is applied for reducing the hardware resource usage.
Finally, for verifying the correctness of forward and inverse kinematics for the five-axis articulated robot arm, a cosimulation work is constructed by ModelSim and Simulink.
The hardware of the forward and inverse kinematics is run by ModelSim and a test bench which generates stimulus to ModelSim and displays the output response is taken in Simulink.
Under this design, the forward and inverse kinematics algorithms can be completed within one microsecond.
American Psychological Association (APA)
Hai Linh, Bui Thi& Kung, Ying-Shieh. 2015. Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1075021
Modern Language Association (MLA)
Hai Linh, Bui Thi& Kung, Ying-Shieh. Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm. Mathematical Problems in Engineering No. 2015 (2015), pp.1-10.
https://search.emarefa.net/detail/BIM-1075021
American Medical Association (AMA)
Hai Linh, Bui Thi& Kung, Ying-Shieh. Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1075021
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1075021