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For example, for a planar (2D) case with a rigid object free to translate and rotate, the object is de ned by three DOF (x, y, ): two Cartesian coordinates (x, y) that de ne the object s position, plus its orientation angle A robot arm manipulator s DOF also determine its ability to move around Speci c values of all robot s DOF signify the speci c arm con guration of its links and joints Shown in Figure 12a is a revolute planar (2D) arm with two links Its two DOF, two rotation angles, allow an arbitrary position of its endpoint in the robot workspace, but not an arbitrary orientation The 3-link 3-DOF planar arm manipulator shown in Figure 12b can provide an arbitrary position and an arbitrary orientation at its endpoint.

The DOF that a robot arm possesses are usually realized via independent control means, such as actuators (motors), located in the arm s joints Joints connect together the arm s links Links and joints can be designed in different con gurations: The most common are the sequential linkage, which is similar to the kinematics of a human arm, like in Figure 12, and the parallel linkage, where links form a parallel structure The latter is used in some spatial applications, such as a universal positioner for various platforms We will be interested in only sequential linkages The most popular types of joints are revolute joints, where one link rotates relative to the other (like in the human elbow joint), and sliding joints (also called prismatic joints), where one link slides relative to the other The arm shown in Figure 1.

Consider the following code:

2a has two revolute joints, of which the rst joint is located in the arm s xed base The freely moving distal link or links on a typical arm manipulator is called the end effector The end effector can carry a tool for doing the robot s.

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P (x, y, q3)

module resetckt( output reg [15:0] oDat, input iReset, iClk, iWrEn, input [7:0] iAddr, oAddr, input [15:0] iDat); reg [15:0] memdat [0:255]; always @(posedge iClk or negedge iReset) if(!iReset) oDat <= 0; else begin if(iWrEn) memdat[iAddr] <= iDat; oDat end endmodule <= memdat[oAddr];

l1 q1 Jo (a)

Again, the only variation we will consider in the above code is the type of reset: synchronous versus asynchronous. In Xilinx Virtex-4 devices, for example, BRAM (Block RAM) elements have synchronous resets only. Therefore, with a synchronous reset, the synthesis tool will be able to implement this code with a single BRAM element as shown in Figure 2.9. However, if we attempt to implement the same RAM with an asynchronous reset as shown in the code example above, the synthesis tool will be forced to create a RAM module with smaller distributed RAM blocks, additional decode logic to create the appropriate-size RAM, and additional logic to implement the asynchronous reset as partially shown in Figure 2.10. The nal implementation differences are staggering as shown in Table 2.4.

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x (b)