Research Article

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

Table 3

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

OutputInput
The 1st case , , , , The 2nd case , , , ,
ModelSimMatlabErrorModelSimMatlabError

end 300.0321650300.0000160−0.032149059.991394060.00000000.0086063
end 299.0496215299.0000160−0.0496054179.9915466180.00000000.0084537
end −149.9700920−149.9999999−0.0299906450.0378417450.0000000−0.0378416

(1) denotes the case  1 shown in (50).
(2) denotes the case  2 shown in (51).