Hypercube parallel communication for robot dynamics with generalized linked-arms

Author

Nagata, Motoyasu ; Hayase, Mitsuru ; Asai, Kenichi

Author_Institution

Dept. of Inf. Sci., Osaka Kyoiku Univ., Ikeda, Japan

Volume

2

fYear

1998

fDate

31 Aug-4 Sep 1998

Firstpage

1088

Abstract

The authors have already presented an algorithm of hypercube parallel processing for the Newton-Euler dynamics of multiple linked robots. The algorithm requires parallel communication in the hypercube multiprocessor. This paper explores communication schemes for the parallel processing from the viewpoint of hypercube topology. They consider the general case of Newton-Euler dynamics of the robot with N-linked arms. They also present the relevant properties of a minimum dimensional hypercube and the computing complexity of their hypercube parallel algorithm

Keywords

hypercube networks; multiprocessing systems; parallel algorithms; robot dynamics; Newton-Euler dynamics; computing complexity; hypercube parallel communication; hypercube parallel processing algorithm; hypercube topology; minimum dimensional hypercube; multiple linked robots; multiprocessor; robot dynamics; Acceleration; Concurrent computing; Equations; Hypercubes; Information science; Manipulators; Parallel algorithms; Parallel processing; Parallel robots; Topology;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 1998. IECON '98. Proceedings of the 24th Annual Conference of the IEEE

Conference_Location

Aachen

Print_ISBN

0-7803-4503-7

Type

conf

DOI

10.1109/IECON.1998.724247

Filename

724247