A Reconfigurable System Approach to the Direct Kinematics of a 5 D.o.f Robotic Manipulator

Table 3

MSE and Latency of the 𝐹𝑃_{𝑇𝑎𝑦𝑙𝑜𝑟} architecture.

Powers	sin(𝑥)	cos(𝑥)	atan(𝑥)	Elapsed time
	[−𝜋/2 𝜋/2]	[−𝜋/2 𝜋/2]	[−100100]	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