机器人减速器负载的CORDIC计算算法与FPGA实现  

CORDIC calculation algorithm and FPGA realization of robot reducer load

作　　者：邓威 刘桂雄[1] 汤少敏 Deng Wei;Liu Guixiong;Tang Shaomin(School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,China)

机构地区：[1]华南理工大学机械与汽车工程学院,广州510640

出　　处：《电子测量技术》2021年第16期74-78,共5页Electronic Measurement Technology

基　　金：广东省科技计划项目(2017B090914003)资助。

摘　　要：减速器是工业机器人的运动核心部件之一,在其实时负载计算中存在大量三角函数计算,计算量较大,使用传统方法计算复杂且延迟较高。本文提出一种机器人减速器负载的CORDIC计算算法,能有效降低负载计算延迟,重点研究该算法在FPGA中实现方法及结构改进等,最后在QuartusⅡ及ModelSim软件中进行联合仿真,结果表明,基于CORDIC算法的机器人减速器负载计算绝对误差小于1×10^(-3),计算延迟15 ns,与传统负载计算方法相比,具有准确性高、实时性好、占用FPGA内部资源少的特点。The reducer is one of the core components of the motion of industrial robots.There are a large number of trigonometric function calculations in its real-time load calculation,which requires a large amount of calculation,and the calculation using traditional methods is complex and has a high delay.This paper proposes a CORDIC calculation algorithm for robot reducer load,which can effectively reduce the load calculation delay.The focus is on the implementation of the algorithm in FPGA and structural improvements.Finally,a joint simulation is carried out in QuartusⅡand ModelSim software.The results show that the absolute error of the load calculation of the robot reducer based on the CORDIC algorithm is less than 1×10^(-3),and the calculation delay is 15 ns.Compared with the traditional load calculation method,it has the characteristics of high accuracy,good real-time performance,and less internal resources of the FPGA.

关 键 词：CORDIC算法 负载计算 现场可编程门阵列 减速器 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]