Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm

Table 2

Two cases’ simulation results of inverse kinematics from ModelSim and Matlab.

Output	Input
	The 1st case			The 2nd case
	ModelSim	Matlab	Error	ModelSim	Matlab	Error
	44.8984375	44.9043477	0.0059702	71.5703125	71.5650511	−0.0052613
	4.8906250	4.8948685	0.0042435	−99.4843750	−99.4939347	0.0095597
	49.1953125	49.1952721	−0.0000400	76.7060765	76.7031250	0.0029515
	−54.0859375	−54.0901472	0.0042032	22.7878581	22.7812500	0.0066081
	44.8984375	44.9043477	0.0059102	71.5703125	71.5650511	0.0052613

(1) denotes the case  1 shown in (48).
(2) denotes the case  2 shown in (49).