Parallel algorithms and architecture for computation of manipulator forward dynamics

Parallel computation of manipulator forward dynamics is investigated. Considering the three classes of algorithms for the problem, the authors show that the O(n/sup 3/) algorithms are the most efficient for parallel computation. Parallel algorithms for computation of inertia matrix, the bias vector,...

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Bibliographic Details
Published inProceedings. 1991 IEEE International Conference on Robotics and Automation pp. 1156 - 1162 vol.2
Main Authors Fijany, A., Bejczy, A.K.
Format Conference Proceeding
LanguageEnglish
Published IEEE Comput. Soc. Press 1991
Subjects
Computational complexity
Computational modeling
Computer architecture
Concurrent computing
Heuristic algorithms
Iterative algorithms
Linear systems
Manipulator dynamics
Parallel algorithms
Parallel processing
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ISBN081862163X
9780818621635
DOI10.1109/ROBOT.1991.131765

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Summary:Parallel computation of manipulator forward dynamics is investigated. Considering the three classes of algorithms for the problem, the authors show that the O(n/sup 3/) algorithms are the most efficient for parallel computation. Parallel algorithms for computation of inertia matrix, the bias vector, and the linear system solution are developed which can be efficiently implemented on a unique architecture, a triangular array of n(n+1)/2 processors with a nearest neighbor interconnection. This architecture is highly suitable for VLSI and WSI implementation.< >
ISBN:081862163X
9780818621635
DOI:10.1109/ROBOT.1991.131765