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Mathematical Problems in Engineering
Volume 2015, Article ID 906505, 10 pages
Research Article

Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm

Department of Electrical Engineering, Southern Taiwan University of Science and Technology, 1 Nan-Tai Street, Yong-Kang District, Tainan City 710, Taiwan

Received 16 August 2014; Accepted 13 September 2014

Academic Editor: Stephen D. Prior

Copyright © 2015 Bui Thi Hai Linh and Ying-Shieh Kung. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


When robot arm performs a motion control, it needs to calculate a complicated algorithm of forward and inverse kinematics which consumes much CPU time and certainty slows down the motion speed of robot arm. Therefore, to solve this issue, the development of a hardware realization of forward and inverse kinematics for an articulated robot arm is investigated. In this paper, the formulation of the forward and inverse kinematics for a five-axis articulated robot arm is derived firstly. Then, the computations algorithm and its hardware implementation are described. Further, very high speed integrated circuits hardware description language (VHDL) is applied to describe the overall hardware behavior of forward and inverse kinematics. Additionally, finite state machine (FSM) is applied for reducing the hardware resource usage. Finally, for verifying the correctness of forward and inverse kinematics for the five-axis articulated robot arm, a cosimulation work is constructed by ModelSim and Simulink. The hardware of the forward and inverse kinematics is run by ModelSim and a test bench which generates stimulus to ModelSim and displays the output response is taken in Simulink. Under this design, the forward and inverse kinematics algorithms can be completed within one microsecond.