Development of the technique of splitting of the subtasks linked among themselves for parallel execution of kinematic conversions of the manipulator

In 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 structure, modular algorithm, robot-manipulator