A class of parallel algorithms for computation of the manipulator inertia matrix

Parallel and parallel/pipeline algorithms for computation of the manipulator inertia matrix are presented. An algorithm based on the 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 and has significantly higher efficiency