Cluster Computing and Its Application on Kinematics Analysis of Parallel Manipulator

The paper describe a detailed study into the object-oriented design and implementation of distributed and parallel computing environment for the forward kinematics analysis of parallel manipulator on desktop computers cluster using message passing while communication are needed among related computing nodes. The solution routines were blind to whether the objects were local or remote. Numerical tests were carried out and reasonable speed-up was achieved, particularly for direction solution methods. It is concluded that message passing provides a viable mechanism for computing nodes coordination while implementing distributed parallel computing environment based on personal computer(PC) cluster.