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The Symbolic Derivation and Fast Computation of Dynamic Equations on Manipulator

Author: YuHuaDong
Tutor: FangBin
School: Beijing University of Technology
Course: Detection Technology and Automation
Keywords: Articulated robot Dynamics Field programmable gate array Reduced Instruction Coordinate rotation digital computer
CLC: TP242.6
Type: Master's thesis
Year: 2002
Downloads: 295
Quote: 4
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Abstract


In this paper, articulated industrial robot dynamic equations for fast computing systems in-depth study . Including by computer automatically derive kinetic equations for rapid calculation and design of a kinetic equation arithmetic unit . In the automatic derivation of robot dynamics equations , the use of mathematical tools is Mathematica4.0. The derivation method using Lagrangian dynamics equation rapid method of calculation. The model is the use of a 5-DOF articulated industrial robot . Finally got it the same structure articulated industrial robot general dynamic equation . And gives an articulated industrial robot for symbolic method derived kinetic equations of the general program . The program simply changing the number of degrees of freedom and structural parameters can get the corresponding symbolic equation . In the kinetic equation rapid calculation , according to the kinetic equation can be used to calculate the structure presents a calculation of robot dynamics equations specialized computing unit, this operation unit employs a pipelined architecture , the computing section includes adders, multipliers, and a triangle function generator . And describes a RISC CPU structure and implementation. Finally introduces the CORDIC (Coordinate Rotation Digital Computer) algorithm, an easy hardware implementation computing trigonometric algorithms. And on this algorithm , based on the use of FPGA technology enables a trigonometric function generator, this algorithm is proven in terms of silicon area or to raise savings calculation speed and accuracy have good performance. The derivation of this program is in the kinetic equation P Ⅲ 800, dual CPU, 256 MB of memory on the machine running . Hardware design is the use of Xilinx's synthesis tool and the chip implementation .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
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