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A class of parallel algorithms for computation of the manipulator inertia matrixParallel and parallel/pipeline algorithms for computation of the manipulator inertia matrix are presented. An algorithm based on composite rigid-body spatial inertia method, which provides better features for parallelization, is used for the computation of the inertia matrix. Two parallel algorithms are developed which achieve the time lower bound in computation. Also described is the mapping of these algorithms with topological variation on a two-dimensional processor array, with nearest-neighbor connection, and with cardinality variation on a linear processor array. An efficient parallel/pipeline algorithm for the linear array was also developed, but at significantly higher efficiency.
Document ID
Document Type
Conference Paper
Fijany, Amir
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Bejczy, Antal K.
(California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Computer Programming And Software
Meeting Information
Meeting: 1989 IEEE International Conference on Robotics and Automation
Location: Scottsdale, AZ
Country: United States
Start Date: May 14, 1989
End Date: May 19, 1989
Accession Number
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