Research on the Inverse Kinematics for 5r Manipulator and Its Implementation Based on Fpga

Analyzing the inverse kinematics theory and its solution method for 5R series manipulator, introducing the establishment of link coordinate system and D_H parameters for 5R series manipulator, studying the algorithm of inverse kinematics solutions based on FPGA controller for 5R manipulator, the system constructs the SOPC system architecture that is based on the Nios II CPU, uses the C program to compile the inverse kinematics solving module and adopts the Robotics Toolbox to simulate the inverse kinematics theory. The results show that the algorithm is effective to realize the inverse solutions of kinematics for 5R serial manipulator with FPGA.