Research Article
A Reconfigurable System Approach to the Direct Kinematics of a 5 D.o.f Robotic Manipulator
Table 3
MSE and Latency of the
architecture.
| Powers | sin() | cos() | atan() | Elapsed time | [/2 /2] | [/2 /2] | [] | clock cycles |
| 2 | 1.59E − 03 | 3, 52E − 02 | 0.00137 | 11 | 3 | 1.56E − 06 | 5, 58E − 05 | 0.00136 | 15 | 4 | 7.01E − 13 | 3.62E − 11 | 0.00136 | 19 | 5 | 3.13E − 15 | 1.15E − 14 | 0.00136 | 23 | 6 | 2.13E − 14 | 5.91E − 15 | 0.00136 | 27 |
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