Inverse kinematics computations with modified CORDIC iterations

The paper presents hardware solutions for the computation of inverse kinematics. They are based on an existing pipeline arithmetic processor which employs the CORDIC algorithm. It is shown that a slight modification of the standard CORDIC algorithm enables fast and efficient computation of the joint angles for the inverse kinematics. Due to this modification, the hardware amount and the computation time for the inverse kinematics computations are considerably reduced. The method yields an extended convergence range and a reduced number of iterations in comparison to the original CORDIC design. Another advantage of this method is that it yields an enhanced CORDIC functionality. Finally, a novel architecture for a new kinematic processor based on the modified CORDIC method is presented