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An inverse kinematics IP (Intellectual Property) for six-axis articulated manipulator is investigated in this paper. Firstly, the formulation of the inverse kinematics for six-axis articulated manipulator is derived. Secondly, the computation algorithm and its hardware implementation of some key trigonometric functions are described. Thirdly, the IP design of inverse kinematics is illustrated and...
A servo control IC for vertical articulated robot arm using SOPC (system-on-a-programmable-chip) technology is presented in this paper. The SOPC technology, developed by Altera Corporation, consists of a FPGA (field programmable gate array) and a Nios embedded processor. In this proposed servo control IC, there are two modules. One module performs the functions of the sequential control, the motion...
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