INVERSE KINEMATICS COMPUTATIONS WITH MODIFIED CORDIC ITERATIONS

The paper presents hardware solutions for the computation of inverse k inematics. They are based on an existing pipeline arithmetic processor which employs the CORDIC algorithm. It is shown that a slight modific ation of the standard CORDIC algorithm enables fast and efficient comp utation of the joint angles for the inverse kinematics. Due to this mo dification, the hardware amount and the computation time for the inver se kinematics computations are considerably reduced. The method yields an extended convergence range and a reduced number of iterations in c omparison to the original CORDIC design. Another advantage of this met hod is that it yields an enhanced CORDIC functionality. Finally, a nov el architecture for a new kinematic processor based on the modified CO RDIC method is presented.