A multi-processor architecture to control a sensor based multi-jointed robotic appendage

The kinematics and dynamics of robotic manipulators are generally computation intensive and require special high performance computer architectures to control manipulators in real-time. The authors describe parallelism in the minimum effort algorithm to control a redundant manipulator, a real-time multiprocessor system, and functional specifications of a multiprocessor module to control a sensor based multi-jointed robotic appendage.