entationestimationisready,thedataissenttotheregisterbank.Figure5.Forwardkinematicshardwarestructure.3.ExperimentsandResultsInthissection,work.Theexperimentationhasthreemainobjectives:firstly,puterandtheproposedsmartprocessorwiththeaimofvalidatingtheuseofFPGA-basedparallelarchitecturesagainstsequentialprocessing.Secondly,themonitoringofthree-real-work.Finally,mercialcontrollers.Inthefirstexperiment,theproposedmethodologyisprogrammedinanFPGAusingthedigitalstructurepresentedinFigure5.Then,puter.puterispresented.Inthesecondexperiment,work.Theonlineestimationoftheangularpositionandtheforwardkinematicsofeachjointareperformedona6-DOFPUMArobot.Themonitoredpathsareselectedconsideringthemotioncharacteristicsofrealautomaticroboticoperations.Figure6showstheusedpathsandtheirrelationwithrealoperationsin
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