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However, the recent advent of the VLSI single on\u2010chip computer (Transputer) makes it possible to implement new algorithms that compute these dynamic models within real\u2010time constraints. This paper describes a solution of this problem by employing a parallel\u2010processing approach. The dynamic model of a robot manipulator is divided into different tasks. Further, each task is divided into several subtasks. A heuristic scheduling algorithm is used to produce different near\u2010optimum task allocations. Real\u2010time implementations of the proposed tasks allocations are given to demonstrate the efficiency and superiority of the parallel\u2010processing approach.<\/jats:p>","DOI":"10.1002\/cpe.4330040206","type":"journal-article","created":{"date-parts":[[2006,11,18]],"date-time":"2006-11-18T09:08:18Z","timestamp":1163840898000},"page":"185-205","source":"Crossref","is-referenced-by-count":2,"title":["Highly efficient transputer arrays for the computation of robot dynamics"],"prefix":"10.1002","volume":"4","author":[{"given":"Albert Y.","family":"Zomaya","sequence":"first","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2006,10,24]]},"reference":[{"key":"e_1_2_1_2_2","volume-title":"Robotics: Control. Sesing. Virion, and Intelligence","author":"Fu A. K. S.","year":"1987"},{"key":"e_1_2_1_3_2","volume-title":"Conference on Robotics: Applied Mathematics and Computatwnal Aspects","author":"Zomaya A. Y.","year":"1989"},{"key":"e_1_2_1_4_2","unstructured":"A. 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