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1. WO1989009447 - THREE-DIMENSIONAL VECTOR PROCESSOR

Publication Number WO/1989/009447
Publication Date 05.10.1989
International Application No. PCT/US1989/001296
International Filing Date 28.03.1989
IPC
G06F 15/78 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
FELECTRIC DIGITAL DATA PROCESSING
15Digital computers in general; Data processing equipment in general
76Architectures of general purpose stored program computers
78comprising a single central processing unit
G06F 7/544 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
FELECTRIC DIGITAL DATA PROCESSING
7Methods or arrangements for processing data by operating upon the order or content of the data handled
38Methods or arrangements for performing computations using exclusively denominational number representation, e.g. using binary, ternary, decimal representation
48using non-contact-making devices, e.g. tube, solid state device; using unspecified devices
544for evaluating functions by calculation
G06F 9/30 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
FELECTRIC DIGITAL DATA PROCESSING
9Arrangements for program control, e.g. control units
06using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
30Arrangements for executing machine instructions, e.g. instruction decode
G06F 9/38 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
FELECTRIC DIGITAL DATA PROCESSING
9Arrangements for program control, e.g. control units
06using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
30Arrangements for executing machine instructions, e.g. instruction decode
38Concurrent instruction execution, e.g. pipeline, look ahead
CPC
G06F 15/8084
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
15Digital computers in general
76Architectures of general purpose stored program computers
80comprising an array of processing units with common control, e.g. single instruction multiple data processors
8053Vector processors
8076Details on data register access
8084Special arrangements thereof, e.g. mask or switch
G06F 7/5446
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
7Methods or arrangements for processing data by operating upon the order or content of the data handled
38Methods or arrangements for performing computations using exclusively denominational number representation, e.g. using binary, ternary, decimal representation
48using non-contact-making devices, e.g. tube, solid state device; using unspecified devices
544for evaluating functions by calculation
5446using crossaddition algorithms, e.g. CORDIC
G06F 9/30032
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
9Arrangements for program control, e.g. control units
06using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
30Arrangements for executing machine instructions, e.g. instruction decode
30003Arrangements for executing specific machine instructions
30007to perform operations on data operands
30032Movement instructions, e.g. MOVE, SHIFT, ROTATE, SHUFFLE
G06F 9/30109
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
9Arrangements for program control, e.g. control units
06using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
30Arrangements for executing machine instructions, e.g. instruction decode
30098Register arrangements
30105Register structure
30109having multiple operands in a single register
G06F 9/3012
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
9Arrangements for program control, e.g. control units
06using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
30Arrangements for executing machine instructions, e.g. instruction decode
30098Register arrangements
3012Organisation of register space, e.g. banked or distributed register file
G06F 9/3824
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
9Arrangements for program control, e.g. control units
06using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
30Arrangements for executing machine instructions, e.g. instruction decode
38Concurrent instruction execution, e.g. pipeline, look ahead
3824Operand accessing
Applicants
  • WANG, Yulun [US]/[US]
Inventors
  • WANG, Yulun
  • BUTNER, Steven, Edward
Agents
  • DEHLINGER, Peter, J.
Priority Data
174,65329.03.1988US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) THREE-DIMENSIONAL VECTOR PROCESSOR
(FR) PROCESSEUR VECTORIEL TRIDIMENSIONNEL
Abstract
(EN)
A robotics-control processor for performing real-time inverse kinematics and inverse dynamics calculations involving three-dimensional vectors. The processor employs a three-wide register (40, 42, 44) and execution unit architectures (46, 48, 50), pipelined instructions, and register-to-register data processing to achieve rapid vector calculations. Broadcast buffers (110, 112) for exchanging operands between register files, and operand multiplexing at several levels within the processor allow program operation flexibility. In a preferred embodiment, the processor includes a CORDIC algorithm unit (164, 166) for rapid vector rotation and trigonometric function calculations.
(FR)
Un processeur de commande robotique permet d'effectuer des calcules de cinématique et de dynamique inverses en temps réel impliquant des vecteurs tridimensionnels. Le processeur utilise un registre à trois volets (40, 42, 44) et des unités d'exécution (46, 48, 50), des instructions ''en pipeline'', et un traitement de données registre-à-registre pour effectuer des calculs vectoriels rapides. Des mémoires-tampon de diffusion (110, 112) pour l'échange d'opérandes entre des fichiers de registre, et le multiplexage d'opérandes à plusieurs niveaux dans le processeur permettent d'avoir une flexibilité au niveau de l'exécution des programmes. Dans un mode préférentiel de réalisation, le processeur comprend une unité d'algorithme CORDIC (164, 166) pour effectuer rapidement la rotation des vecteurs et les calculs des fonctions trigonométriques.
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