In this study, a hardware design that is micro-sized and capable of parallel processing is proposed for the solution of the most basic engineering problem required to control a serial robot manipulator. The proposed hardware design is in the form of FPGA-based digital circuit and has been realized in two different ways, serial and parallel. Forward kinematics problem solution of a 7-joint serial robot manipulator was used for the testing of the designed hardware. In order to the test results to be more objective, the same components were used for multiplication, division and trigonometric calculations in both series and parallel designs. IP-Core is used for multiplication and division operations, and Cordic algorithm is used for trigonometric calculations. The analysis of the results was carried out comparatively in terms of circuit size and solution time. As a result of the experiments, it has been clearly seen that though parallel architecture is more costly than serial architecture, it creates a difference of up to ten times in terms of time.

在这项研究中，提出了一种微型且能够并行处理的硬件设计，以解决控制串行机器人操纵器所需的最基本的工程问题。所提出的硬件设计采用基于FPGA的数字电路的形式，并已通过串行和并行两种不同方式实现。使用7关节串行机器人机械手的正向运动学问题解决方案来测试设计的硬件。为了使测试结果更客观，在串联和并联设计中，相同的组件用于乘法，除法和三角计算。IP-Core用于乘法和除法运算，而Cordic算法用于三角计算。结果的分析是在电路尺寸和求解时间方面进行的。作为实验的结果，已经清楚地看到，尽管并行体系结构比串行体系结构更昂贵，但在时间上却产生了多达十倍的差异。