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Parallel approaches for singular value decomposition as applied to robotic manipulator Jacobians

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dc.contributor.authorSiegel, Howard Jay, author
dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorUlrey, Renard, author
dc.contributor.authorBraun, Tracy D., author
dc.contributor.authorPlenum Publishing Corporation, publisher
dc.date.accessioned2007-01-03T08:09:33Z
dc.date.available2007-01-03T08:09:33Z
dc.date.issued2002
dc.description.abstractThe system of equations that govern kinematically redundant robotic manipulators is commonly solved by finding the singular value decomposition (SVD) of the corresponding Jacobian matrix. This can require a considerable amount of time to compute, thus a parallel SVD algorithm reducing execution time is sought. The approach employed here lends itself to parallelization by using Givens rotations and information from previous decompositions. The key contribution of this research is the presentation and implementation of parallel SVD algorithms to compute the SVD for a set of Jacobians that represent various different joint failure scenarios. Results from implementation of the algorithm on a MasPar MP-1, an IBM SP2, and the PASM prototype parallel computers are compared. Specific issues considered for each implementation include: how data is mapped to the processing elements, the effect that increasing the number of processing elements has on execution time, the type of parallel architecture used, and trade-offs between modes of parallelism.
dc.format.mediumborn digital
dc.format.mediumarticles
dc.identifier.bibliographicCitationBraun, Tracy D., et al., Parallel Approaches for Singular Value Decomposition as Applied to Robotic Manipulator Jacobians, International Journal of Parallel Programming 30, no. 1 (February 2002): 1-35.
dc.identifier.urihttp://hdl.handle.net/10217/67364
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©2002 Plenum Publishing Corporation.
dc.rightsCopyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright.
dc.subjectMasPar MP-1
dc.subjectredundant manipulator
dc.subjectIBM SP2
dc.subjectrobotic-control
dc.subjectsingular value decomposition
dc.titleParallel approaches for singular value decomposition as applied to robotic manipulator Jacobians
dc.typeText

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