This is a bit comparing apples & oranges. The article refers to an improved approximation via Pade-Approx. However there is still a significant error term, even in the ranges that the author defines as "good enough".
The asin() function in the FPC RTL is geared towards precision - different target entirely. If you would want to replace this (or other elementary functions in the RTL) then you might take a look at the CORE-MATH project here
https://core-math.gitlabpages.inria.fr/The implementations are geared towards precision (correct rounding even)
and throughput. They are probably better than what is available in the RTL currently ...
Cheers,
MathMan