基于FPGA的机器人正逆运动学算法实现

Forward and Inverse Kinematics of the Robot Based on FPGA

针对主-从式手术机器人在运动控制中的高速计算需求,利用FPGA技术构建了专用的机器人主-从手臂的运动学硬件模型,在微秒级的时间内实现了复杂的主机械臂模型正解和从机械臂模型逆解的计算,实际实验结果表明:由FPGA实现的机械臂正、逆运动学计算与理论计算结果相一致,计算误差能够满足系统的控制要求.该方案降低了机器人运动学算法的计算时间.

A kinematics hardware model of dedicated master-slave robot is built by taking advantage of field programmable gate array (FPGA). The master-slave surgical robot’s demand for high speed computing in motion control can be satisfied. Both forward and inverse kinematics solution of the robot can be implemented by this model. It takes several microseconds. The positive and inverse kinematics calculation result that shown by experiment result implemented by FPGA is consistent with theoretical calculations. The calculation error can satisfy the system control requirements. The program greatly reduces the computation time of robot kinematics algorithm. It lays the foundation for improving the speed and accuracy of the kinetic robot system.