Research Article
A Reconfigurable System Approach to the Direct Kinematics of a 5 D.o.f Robotic Manipulator
Table 2
MSE of the floating-point operators.
| FP-Core | 24(6, 17) | 32(8, 23) | 43(11, 31) | 64(11, 52) |
| Add/sub | 2.27E − 7 | 2.76E − 11 | 3.24E − 15 | 1.26E − 17 | Multiplier | 9.53E − 4 | 1.53E − 7 | 1.49E − 11 | 5.87E − 16 | Taylor sin/cos | 6.31E − 9 | 8.80E − 9 | 6.26E − 9 | 1.94E − 16 | Taylor atan | 0.073 | 0.0014 | 0.015 | 0.015 |
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