RUDN Journal of Engineering ResearchRUDN Journal of Engineering Research2312-81432312-8151Peoples’ Friendship University of Russia named after Patrice Lumumba (RUDN University)4824Development of the technique of splitting of the subtasks linked among themselves for parallel execution of kinematic conversions of the manipulatorVnukovA A-ZazulinaA S-150420094738507092016Copyright © 2009,2009In article parallelism sorts in modular algorithms of direct and return tasks of kinematics of the robot-manipulator, possible techniques of their splitting into separate subtasks for the subsequent allocation of these subtasks on in advance known multiprocessor structure of the total memory with the integral characteristic of potential of parallelism of the architecture are considered. The method of an splitting efficiency estimation is offered.Kinematic structuremodular algorithmrobot-manipulatorмодульный алгоритмкинематическая схемаробот-манипулятор