{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,10,24]],"date-time":"2023-10-24T11:12:52Z","timestamp":1698145972774},"reference-count":12,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2006,10,24]],"date-time":"2006-10-24T00:00:00Z","timestamp":1161648000000},"content-version":"vor","delay-in-days":5197,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Concurrency: Pract. Exper."],"published-print":{"date-parts":[[1992,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>On\u2010line computation of forward and inverse Jacobian matrices is essential in robot manipulator controllers, where high\u2010speed robot motion is required. The complexity of Jacobian calculation is such that the computational burden is large, and parallel processing is necessary if on\u2010line computation is to be achieved. Various algorithms and parallel\u2010processing networks suitable for this are considered. All algorithms have been implemented on transputer networks and computation times measured. The paper emphasises the importance of including communication overheads in comparisons of the computational efficiency of alternative algorithms and processor networks. Theoretical processing times based on computer cycle times and arithmetic operation counts are shown to be a false basis for comparison.<\/jats:p><jats:p>Whilst considering the specific case of computation of Jacobian matrices for a robot manipulator, the paper provides a useful example of the considerations and constraints involved in distributing any algorithm across a multi\u2010processor network.<\/jats:p>","DOI":"10.1002\/cpe.4330040505","type":"journal-article","created":{"date-parts":[[2006,11,18]],"date-time":"2006-11-18T06:19:34Z","timestamp":1163830774000},"page":"399-412","source":"Crossref","is-referenced-by-count":2,"title":["Transputer arrays for the on\u2010line computation of robot jacobians"],"prefix":"10.1002","volume":"4","author":[{"given":"A. Y. H.","family":"Zomaya","sequence":"first","affiliation":[]},{"given":"A. S.","family":"Morris","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2006,10,24]]},"reference":[{"key":"e_1_2_1_2_2","first-page":"221","volume-title":"Robotics: Control, Sensing, Vision and Intelligence","author":"Fu K. S.","year":"1987"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300404"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426611"},{"key":"e_1_2_1_5_2","volume-title":"Robot Manipulators: Mathematics, Programming and Control","author":"Paul R. P.","year":"1981"},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","first-page":"215","DOI":"10.1115\/1.4011045","article-title":"A kinematic notation for lower pair mechanisms based on matrices","volume":"22","author":"Denavit H.","year":"1955","journal-title":"J. Appl. Mech."},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1985.1087013"},{"key":"e_1_2_1_8_2","volume-title":"Parallel and Distributed Computation: Numerical Methods","author":"Bertsekas B. P.","year":"1989"},{"key":"e_1_2_1_9_2","volume-title":"Matrix Computations","author":"Golub G. H.","year":"1983"},{"key":"e_1_2_1_10_2","unstructured":"P. G.Hipes \u2018Comparison of LU and Gauss\u2010Jordan system solvers for distributed memory multicomputers\u2019 Caltech internal report C3P\u2010652b 1988."},{"key":"e_1_2_1_11_2","first-page":"193","volume-title":"Parallel Processing and Artificial Intelligence","author":"Zomaya A. H.","year":"1989"},{"issue":"3","key":"e_1_2_1_12_2","first-page":"129","article-title":"Dynamic simulation and modelling of robot manipulators using parallel architectures","volume":"6","author":"Zomaya A. H.","year":"1991","journal-title":"Int J. Robotics and Automation"},{"key":"e_1_2_1_13_2","unstructured":"A.Y. H.Zomaya \u2018Highly efficient transputer arrays for the computation of robot dynamics\u2019 submitted for publication inConcurrency: Practice and Experience."}],"container-title":["Concurrency: Practice and Experience"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Fcpe.4330040505","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/cpe.4330040505","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,23]],"date-time":"2023-10-23T19:07:10Z","timestamp":1698088030000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/cpe.4330040505"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1992,8]]},"references-count":12,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1992,8]]}},"alternative-id":["10.1002\/cpe.4330040505"],"URL":"https:\/\/doi.org\/10.1002\/cpe.4330040505","archive":["Portico"],"relation":{},"ISSN":["1040-3108","1096-9128"],"issn-type":[{"value":"1040-3108","type":"print"},{"value":"1096-9128","type":"electronic"}],"subject":[],"published":{"date-parts":[[1992,8]]}}}