A new systolic array for the singular value decomposition
Proceedings of the fourth MIT conference on Advanced research in VLSI
Robotics: control, sensing, vision, and intelligence
Robotics: control, sensing, vision, and intelligence
Dexterity measures for the design and control of kinematically redundant manipulators
International Journal of Robotics Research
Efficient computation of the singular value decomposition on cube connected SIMD machine
Proceedings of the 1989 ACM/IEEE conference on Supercomputing
The SP2 high-performance switch
IBM Systems Journal
Mastering MATLAB: a comprehensive tutorial and reference
Mastering MATLAB: a comprehensive tutorial and reference
Matrix computations (3rd ed.)
International Journal of Parallel Programming
MPI: The Complete Reference
SVD and Signaling Processing III: Algorithms, Architectures, and Applications
SVD and Signaling Processing III: Algorithms, Architectures, and Applications
Modeling Communication Overhead: MPI and MPL Performance on the IBM SP2
IEEE Parallel & Distributed Technology: Systems & Technology
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The 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.