Implementation of a high performance LSI for inverse kinematics computation

Michitaka Kameyama, Takao Matsumoto, Hideki Egami, Tatsuo Higuchi

Research output: Contribution to journalConference articlepeer-review

3 Citations (Scopus)


The authors present an LSI (large-scale integrated) circuit for high-speed inverse kinematics computation. They demonstrate that inverse kinematic solutions can be described by two-dimensional vector rotations and arc tangent operations, and that these operations can be efficiently computed by the coordinate rotation digital computer (CORDIC) algorithms. The chip is fabricated using 1.5-μm CMOS gate array technology, and the design of the arithmetic unit on the chip is based on the CORDIC algorithms. Pipelining is fully used in the processor to enhance the operating ratio up to 100%. The resulting compact inverse kinematics processor is composed of the above chip and a few memory chips for program and data. The processor can be used for various kinds of manipulators.

Original languageEnglish
Pages (from-to)757-762
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1989
Externally publishedYes
Event1989 IEEE International Conference on Robotics and Automation, ICRA 1989 - Scottsdale, AZ, USA
Duration: 1989 May 141989 May 19

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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