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UBC Theses and Dissertations

An arithmetic processor for robotics Poon, Joseph Kin-Shing


An arithmetic processor chip for use in robotics has been designed in 4µm CMOS technology. The chip is intended to function as a slave processor to a general purpose microprocessor host and be able to perform robot arm coordinate transformation calculations for use in real-time control applications. A parallel-processing, multi-pipelined architecture has been used to produce a 45mm² chip for which a machine cycle time of 200ns appears possible. The general nature of the architecture of this microprogrammable processor renders it useful for a range of computational tasks in robotics in addition to coordinate transformation.

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