{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T16:33:30Z","timestamp":1740155610001,"version":"3.37.3"},"reference-count":32,"publisher":"Wiley","license":[{"start":{"date-parts":[[2023,11,3]],"date-time":"2023-11-03T00:00:00Z","timestamp":1698969600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["202014353"],"award-info":[{"award-number":["202014353"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2023,11,3]]},"abstract":"<jats:p>In the implementation of robot motion control, complex kinematic computations consume too much central processing unit (CPU) time and affect the responsiveness of robot motion. To solve this problem, this paper proposes a parallel method for solving kinematic equations of articulated robots based on the coordinate rotation digital computer (CORDIC) algorithm. The method completes the fast calculation of the transcendental function based on the CORDIC algorithm, adopts the tree structure method to optimize the key computational paths of forward and inverse solutions, and designs a parallel pipeline to realize the low latency and high throughput of the kinematic equations. The experiments of the proposed method are validated based on the field-programmable gate array (FPGA) hardware experimental platform, and the experimental results demonstrate that the computational time to complete the entire kinematic equations is 4.68\u2009\u03bcs, of which the computational time for the kinematic positive solution is 0.52\u2009\u03bcs and the computational time for the kinematic inverse solution is 4.16\u2009\u03bcs.<\/jats:p>","DOI":"10.1155\/2023\/2426982","type":"journal-article","created":{"date-parts":[[2023,11,3]],"date-time":"2023-11-03T18:50:10Z","timestamp":1699037410000},"page":"1-8","source":"Crossref","is-referenced-by-count":1,"title":["The Parallel Solving Method of Robot Kinematic Equations Based on FPGA"],"prefix":"10.1155","volume":"2023","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6139-796X","authenticated-orcid":true,"given":"Deli","family":"Zhang","sequence":"first","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-3645-5423","authenticated-orcid":true,"given":"Shaohua","family":"Jiang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-6062-9957","authenticated-orcid":true,"given":"Liu","family":"Zhe","sequence":"additional","affiliation":[{"name":"Engineering Technology Center, Shenyang Aircraft Company, Shenyang 110850, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2021.102223"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1177\/1729881418793022"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-07383-5_15"},{"key":"4","unstructured":"PengH.Research on 6-DOF tandem robot kinematic algorithm and its control system implementation2016Hefei University of TechnologyMaster Dissertation"},{"volume-title":"Introduction to Robotics","year":"2018","author":"J. 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