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An integrated environment for fast kinematic processing

: Krieger, C.; Hosticka, B.J.

King, T. ; Escola de Engenharia, Guimaraes:
Mechatronics 1996. Proceedings
Guimaraes, 1996
ISBN: 972-8063-08-3
S.191-196 : Lit.
Mechatronics <5, 1996, Guimaraes>
Fraunhofer IMS ()
Algorithmus; Emulation; Kinematik; simulation

In this paper we present an integrated approach for very fast kinematic computations in multibody systems with complex structure. The approach relies on using optimized algorithms for generation of symbolic equitations for kinematics together with application-specific hardware for their computation. The kinematic equations are optimized by incorporating closed-form solutions whereever possible. For optimized hardware, a computer board had been developed, which includes a CORDIC processor for the computation of transcendent functions as well as a DSP procssor for implementation of basic arithmetic operations.