Paper Info
Title
Parallel O(log N) algorithms for the computation of manipulator forward dynamics
Abstract
In this paper, two parallel O(log N) algorithms for the computation of manipulator forward dynamics are presented. They are based on a new O(N) algorithm for the problem which is developed from a new factorization of mass matrix M. Specifically, a factorization of the inverse M-1 in the form of a Schur complement is derived. The new O(N) algorithm is then developed as a recursive implementation of this factorization. It is shown that the resulting algorithm is strictly parallel, that is, it is less efficient than other algorithms for serial computation of the problem. However, to our knowledge, it is the only algorithm that can be parallelized to derive both a time-optimal O(logN) - and processor-optimal - O(N) - parallel algorithm for the problem. A more efficient parallel O(logN) algorithm based on a multilevel exploitation of parallelism is also briefly described. In addition to their theoretical significance, these parallel algorithms allow a practical implementation due to their simple architectural requirements
Year
DOI
Venue
1994
10.1109/ROBOT.1994.351368
IEEE T. Robotics and Automation
Keywords
Field
DocType
computational complexity,dynamics,force control,manipulators,parallel algorithms,position control,Schur complement,factorization,force decomposition,forward dynamics,manipulator,mass matrix,parallel algorithm
Algorithm design,Control theory,Parallel algorithm,Computer science,Algorithm,Rabin–Karp algorithm,Factorization,Freivalds' algorithm,Schur complement,Computational complexity theory,Cost efficiency
Conference
Volume
Issue
ISSN
11
3
1050-4729
ISBN
Citations 
PageRank 
0-8186-5330-2
26
3.70
References 
Authors
10
3
Name
Order
Citations
PageRank
Amir Fijany1263.70
Inna Sharf2263.70
D'Eleuterio, G.M.T.38411.83