文章基本信息

标题：RESEARCH ON THE INVERSE KINEMATICS FOR 5R MANIPULATOR AND ITS IMPLEMENTATION BASED ON FPGA
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作者：HU XINYU ; ZHANG DAODE ; YANG GUANGYOU 等
期刊名称：Journal of Theoretical and Applied Information Technology
印刷版ISSN：1992-8645
电子版ISSN：1817-3195
出版年度：2013
卷号：47
期号：2
页码：616-621
出版社：Journal of Theoretical and Applied
摘要：Analyzing the inverse kinematics theory and its solution method for 5R series manipulator, introducing the establishment of link coordinate system and D_H parameters for 5R series manipulator, studying the algorithm of inverse kinematics solutions based on FPGA controller for 5R manipulator, the system constructs the SOPC system architecture that is based on the Nios II CPU, uses the C program to compile the inverse kinematics solving module and adopts the Robotics Toolbox to simulate the inverse kinematics theory. The results show that the algorithm is effective to realize the inverse solutions of kinematics for 5R serial manipulator with FPGA
关键词：Series Manipulator; FPGA; Inverse Kinematics; Link Coordinate System