反正切函数的CORDIC 算法及其FPGA 实现

为解决传统的反三角函数求解方法存在速度低、精度低和不方便实现的问题，提出一种基于FPGA 控制器实现运动平台的运动学逆解算法。根据CORDIC 算法原理，以圆周坐标系统的旋转模式和向量化模式为例进行理论分析，构建基于NiosⅡ软核处理器的SOPC 系统架构，利用C 语言编写逆向运动学求解模块，并通过ModelSim仿真软件对逆向运动学理论进行仿真验证。测试结果表明，采用FPGA 实现运动平台的逆向运动学求解算法是正确的。

CORDIC Algorithm of Arctangent Function and Its FPGA Implementation

In order to solve the problem of low speed, low precision and inconvenient realization of the traditionalinverse trigonometric method, a kinematics inverse solution algorithm of motion platform based on FPGA controller.According to the principle of CORDIC algorithm, taking the rotating mode and vector quantization mode of the circularcoordinate system as an example, the SOPC system architecture based on the Nios II soft core processor is constructed, andthe reverse kinematics solution module is written using the C language. The theory of reverse kinematics is validated by thesimulation software of Modelsim. The test results show that the reverse kinematics algorithm is correct by using FPGA.