NDLI: Efficient Parallel Algorithm for Robot Inverse Dynamics Computation

Content Provider	IEEE Xplore Digital Library
Author	Lee, C. S. George Chang, Po Rong
Copyright Year	1971
Description	It is shown that the time lower bound of computing the inverse dynamics of an n-link robot manipulator parallelly using p processors is O(k1 [n/p] + k2 [log<2 p]), where k1 and k2 are constants. A novel parallel algorithm for computing the inverse dynamics using the Newton-Euler equations of motion was developed to be implemented on a single-instruction-stream multiple-data-stream computer with p processors to achieve the time lower bound. When p = n, the proposed parallel algorithm achieves the Minsky's time lower bound O([log2 n]), whidc is the conjecture of parallel evaluation. The proposed p-fold parallel algorithm can be best described as consisting of p-parallel blocks with pipelined elements within each parallel block The results from the computations in the p blocks form a new homogeneous linear recurrence of size p, which can be computed using the recursive doubling algorithm. A modified inverse perfect shuffle interconnection scheme was suggested to interconnect the p processors. Furthermore, the proposed parallel algorithm is susceptible to a systolic pipelined architecture, requiring three floating-point operations per complete set of joint torques.
Starting Page	532
Ending Page	542
Page Count	11
File Size	2393517
File Format	PDF
ISSN	00189472
Volume Number	16
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1986-07-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Parallel algorithms Parallel robots Concurrent computing Motion control Torque control Equations Robot kinematics Manipulator dynamics Acceleration Job shop scheduling
Content Type	Text
Resource Type	Article
Subject	Engineering

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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