Pipeline/Parallel algorithms for the jacobian and inverse dynamics computations

Algorithms have been developed for the Jacobian and Inverse Dynamics analyses in order to implement them on pipeline/parallel computing arrays. The results indicate that the sampling rate in either case may be significantly increased by adding processors to a pipelined array while, on the other hand, the compute time delay decreases very little. The results further show that a parallel structure is needed if the compute time is to be significantly reduced.