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