Analysis of computational parallelism with a concurrent hierarchical robot control system

Implementation of a Jacobian-transpose algorithm

“…Likewise, there must be sufficient processing power to compute the end effector Jacobian. (See [25,26] for more on distributing processes to processors.) Since both the world and end effector Jacobians are not generally required at the same time, a simple scheme has been established for activating and inactivating processes as described in [7].…”