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At each level, a parallel algorithm represents the application of a parallel model of computation that transforms the computation into a graph whose structure defines the features of an abstract architecture, i.e., number of processors, communication structure, etc. Data flow analysis is employed to derive the time lower bound in the computation as well as the sequencing of the abstract architecture. The features of the target architecture are defined by optimization of the abstract architecture to exploit maximum parallelism while minimizing various overheads and architectural complexity. An algorithmically specialized, highly parallel, MIMD\u2010SIMD architecture is designed and implemented that is capable of efficient exploitation of parallelism at several computational levels. The computation time of the Newton\u2010Euler formulation for a 6\u2010degree\u2010of\u2010freedom (dof) general manipulator is measured as 187 \u03bcs. The increase in computation time for each additional dof is 23 \u03bcs, which leads to a computation time of less than 500 \u03bcs, even for a 12\u2010dof redundant arm.<\/jats:p>","DOI":"10.1002\/rob.4620080504","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T12:45:48Z","timestamp":1183725948000},"page":"599-635","source":"Crossref","is-referenced-by-count":11,"title":["Parallel computation of manipulator inverse dynamics"],"prefix":"10.1002","volume":"8","author":[{"given":"Amir","family":"Fijany","sequence":"first","affiliation":[]},{"given":"Antal K.","family":"Bejczy","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","first-page":"33","volume-title":"Robot Arm Dynamics and Control","author":"Bejczy A. 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