{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,3]],"date-time":"2025-03-03T05:14:15Z","timestamp":1740978855530,"version":"3.38.0"},"reference-count":54,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[1990,5,1]],"date-time":"1990-05-01T00:00:00Z","timestamp":641520000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["SIMULATION"],"published-print":{"date-parts":[[1990,5]]},"abstract":"<jats:p> Advanced control strategies require the inclusion of the dynamical model of the robot arm in the control law. However, the dynamics consist of a highly coupled and non-linear set of equations. Thus, this complexity has always presented a major obstacle in real-time dynamic control applications. The computation ally efficient solution of this problem will lead to a better comprehension of the key factors effecting robot operations. This work describes a solution of this problem by employing a parallel processing approach. The dynamics are computed by using a semi-customized Newton-Euler formulation. The algorithm is distributed over a highly- coupled multiple\u2122 instruction multiple-data steram (MIMD) computer architecture. The computer system is constructed from general purpose (VLSI) building blocks called the (TRANSPUTER). The cost-effective ness and speed of the scheme is demon strated by a case study (PUMA 560 robot arm). The communication issues between the different processors and discussed. Speed-up results are included to show the superiority and advantages of the parallel approach. <\/jats:p>","DOI":"10.1177\/003754979005400509","type":"journal-article","created":{"date-parts":[[2008,3,29]],"date-time":"2008-03-29T17:23:43Z","timestamp":1206811423000},"page":"269-278","source":"Crossref","is-referenced-by-count":7,"title":["Modeling and simulation of robot dynamics using transputer-based architectures"],"prefix":"10.1177","volume":"54","author":[{"given":"A.Y.","family":"Zomaya","sequence":"first","affiliation":[{"name":"Robotics Research Group Department of Control Engineering University of Sheffield Mappin Street, Sheffield United Kingdom S1 3JD"}]},{"given":"A.S.","family":"Morris","sequence":"additional","affiliation":[{"name":"Robotics Research Group Department of Control Engineering University of Sheffield Mappin Street, Sheffield United Kingdom S1 3JD"}]}],"member":"179","published-online":{"date-parts":[[1990,5,1]]},"reference":[{"volume-title":"Proc. 5th World Congress on Theory of Machines and Mechanisms","author":"Armstrong, W.M.","key":"atypb1"},{"key":"atypb2","unstructured":"Barhen, J. 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