The application of bit-serial CORDIC computational units to the design of inverse kinematics processors
R.G. Harber, Xiaofang Hu, J. Li, S. C. Bass · 2003
C.S.G. Lee and P.R. Chang (1986) have shown how the mathematical and nonlinear function evaluation operations involved in the inverse kinematic solution for a six-joint manipulator could be re-expressed and reordered so as to allow their evaluation by an interconnection of CORDIC processors. The present authors describe the use of specialized, dedicated CORDIC processors, implemented in bit-serial form, to construct an inverse kinematics computational unit on a single VLSI chip.>