Fast Implementation of forward robot kinematics of position with distributed arithmetic architecture

This paper refers to the fast implementation of the forward kinematic equations of position of robotics manipulators, using a distributed arithmetic-based pipeline architecture. The building blocks of this pipeline architecture are the distributed arithmetic-based circuits that implement the matrix-vector multiplications involved in the calculation of the forward kinematics of position. The matrix-vector multiplications are implemented in the distributed arithmetic technique by using auxiliary binary functions, which are stored in look-up tables. The digit-serial configuration of the proposed implementation is described. The serial and the parallel configurations may result as special extreme cases of the digit-serial configuration.