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.
| Output | Input | The 1st case , , , , | The 2nd case , , , , | ModelSim | Matlab | Error | ModelSim | Matlab | Error |
| end | 300.0321650 | 300.0000160 | −0.0321490 | 59.9913940 | 60.0000000 | 0.0086063 | end | 299.0496215 | 299.0000160 | −0.0496054 | 179.9915466 | 180.0000000 | 0.0084537 | end | −149.9700920 | −149.9999999 | −0.0299906 | 450.0378417 | 450.0000000 | −0.0378416 |
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(1) denotes the case 1 shown in (50). (2) denotes the case 2 shown in (51).
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