Analog Matrix Multiplier Dedicated to the Denavit-Hartenberg Algorithm

Abstract

This paper presents a new approach of forward kinematics processing using analog structures dedicated to calculate the matrix multiplication by parallel processing. A novel circuit is conceived that is able to determine the result of multiplication for analog outputs of position sensors in a faster way. The analog matrix multiplication can be applied in the forward kinematics of robots when the input signals are analog, being expressed as sin and cos of the angles of joints. Such an analog processor is suitable to control the autonomous robots where the power consumption is critical. A comparison between FPGA implementation and analogic processing is presented.