{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,13]],"date-time":"2025-02-13T10:40:08Z","timestamp":1739443208303,"version":"3.37.0"},"reference-count":17,"publisher":"Wiley","issue":"10","license":[{"start":{"date-parts":[[2007,9,5]],"date-time":"2007-09-05T00:00:00Z","timestamp":1188950400000},"content-version":"vor","delay-in-days":7187,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Systems &amp; Computers in Japan"],"published-print":{"date-parts":[[1988,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper discusses the parallel processing of real\u2010time robot dynamics simulation. Real\u2010time robot dynamics simulation is an indispensable technique for a robot with a high\u2010level function. It is a computation procedure to determine the robot motion (joint position, speed, acceleration, etc.) for the given torque and driving force at each joint. In the proposed scheme, the optimal multiprocessor scheduling algorithms developed in this paper are employed, and the dynamics of the robot arm with arbitrary shape can be simulated with the minimum processing time on a multiprocessor system composed of an arbitrary number of parallel processors. The effectiveness and the practical usefulness of the proposed parallel processing scheme ire demonstrated on the robot motion simulator using a prototype multiprocessor system. This is the first report of the robot dynamics simulation being realized efficiently by the parallel processing on the real\u2010time multiprocessor system. Thus it is verified that the multiprocessor robot dynamics simulator with an excellent cost\u2010performance ratio can be realized.<\/jats:p>","DOI":"10.1002\/scj.4690191005","type":"journal-article","created":{"date-parts":[[2009,11,19]],"date-time":"2009-11-19T20:43:31Z","timestamp":1258663411000},"page":"45-54","source":"Crossref","is-referenced-by-count":0,"title":["Parallel Processing of Robot Dynamics Simulation Using Optimal Multiprocessor Scheduling Algorithms"],"prefix":"10.1002","volume":"19","author":[{"given":"Hironori","family":"Kasahara","sequence":"first","affiliation":[]},{"given":"Masahiko","family":"Iwata","sequence":"additional","affiliation":[]},{"given":"Seinosuke","family":"Narita","sequence":"additional","affiliation":[]},{"given":"Hirofumi","family":"Fujii","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,9,5]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"M.W.WalkerandD.E.Orin Efficient dynamic computer simulation of robotic mechanisms in Proc. 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