1. What does the paper do? This paper studies and implements the inverse kinematics. Moreover, the FPGA- implementation of inverse kinematics for two type’s robot manipulators is presented.

2. What is robot manipulator? A robot manipulator is composed of a serial chain of rigid links connected to each other revolute or prismatic joints. A revolute joint rotates about a motion axis A prismatic joint slide along a motion axis.

4. IK formulations (1) (2) (4) (5) (6) (7) (8)

5. The parameters of robot manipulator‘s Table 2.The parameters robot manipulator‘s

6. The Implementation in FPGA The implementation of inverse kinematics, we use parallel processing method, it is resource consumption in FPGA. The FPGA chip adopts herein is an Altera DE2 Cyclone II EP2C35F672

7. The Implementation in FPGA The implementation of inverse kinematic is developed by VHDL; therefore, the finite state machine method is applied. In Fig.3, there are 42 steps to perform the inverse kinematics in (34)~(40). The circuit needs 3 multipliers, 2 dividers, 2 adders, 1 square root function, 1 component for arctangent function, 1 component for arccosine function, 1 look- up-table for sine function and some comparator for atan2 function.

8. Finite state machine

9. Simulation results in Quartus II and Matlab

10. Implementation time The implementation of inverse kinematics for robot manipulators using FPGA has been successfully demonstrated in this paper. The computation time to implement the inverse kinematics in hardware is only 840ns for articulated type robot manipulator

11. It was implemented by Nios II processor in software need 5.60ms