The Symbolic Derivation And Fast Computation Of Dynamic Equations On Manipulator

In this dissertation , the Fast Computation of Articulated Manipulator Dynamic Equations are deeply and systematically investigated. This includes deriving equations of motion automatically and designing a fast operation unit used to compute these equations .On deriving equations of motion automatically , the math tool Mathematica 4. 0 is used , the Recursive Lagrangian Formation is applied , a 5 degrees of freedom Articulated Manipulator model is used . At last a currency Dynamic equation of Articulated Manipulator which has the same structure is gotten .And a currency program used to derive dynamic equations of Articulated Manipulator is given .The relevant symbolic equations is gotten when the number of degrees of freedom and the structure parameters are varied .For Fast Computation of Dynamic Equations , a special operation unit is referred according to the computing structure of dynamic equations .The pipeline idea is used in this operation unit. There are a adder , a multiplier and a trigonometric function generator in it . And a RISC CPU is also introduced .Finally a CORDIC arithmetic is introduced , it is a arithmetic easily implemented in silicon chip .Based on this arithmetic , a trigonometric function generator is designed used FPGA technology . This algorithm is good in increasing the velocity and precision when computing trigonometric function.The program deriving dynamic equations runs in PUJ 800, double CPU , 256 MB memory .The Synthesis tool and CMOS chip of Xilinx Company are applied to design the hardware.