The Parallel Solving Method of Robot Kinematic Equations Based on FPGA

Table 2

Comparison of calculation time and calculation error.

Test platform	Architecture	Main frequency	Computation time	Computation errors
i5-8500	X86	3 GHz	182 μs	—
nRF52832	ARM	64 MHz	5.28 ms	—
TMS320C6713B	DSP	50 MHz	495 μs	—
EP4CE115	FPGA	50 MHz	3.48 μs	<
XC7A200T	FPGA	50 MHz	4.68 μs	<

Note: The data of the ARM platform was obtained from [24], the data of the DSP platforms was obtained from [32], the data based on FPGA (EP4CE115) platforms was obtained from [23].