Deng Wei
School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, ChinaLiu Guixiong
School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, ChinaTang Shaomin
School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, ChinaSchool of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, China
TP391.4
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 Quartus Ⅱ and ModelSim software. The results show: The absolute error of the load calculation of the robot reducer based on the CORDIC algorithm is less than , and the calculation delay is 15ns. 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.
