Hypercube parallel communication for robot dynamics with generalized linked-arms

The authors have already presented an algorithm of hypercube parallel processing for the Newton-Euler dynamics of multiple linked robots. The algorithm requires parallel communication in the hypercube multiprocessor. This paper explores communication schemes for the parallel processing from the viewpoint of hypercube topology. They consider the general case of Newton-Euler dynamics of the robot with N-linked arms. They also present the relevant properties of a minimum dimensional hypercube and the computing complexity of their hypercube parallel algorithm.