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

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2 Author(s)
Mertzios, B.G. ; Dept. of Electr. Eng., Democritus Univ. of Thrace, Xanthi, Greece ; Grigoriadis, G.K.

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

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Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on  (Volume:29 ,  Issue: 3 )