• International Journal of Computer Science & Network Security
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• 제21권12spc호
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• pp.570-578
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• 2021

Recently, in the field of engineering and scientific and technical calculations, problems of mathematical modeling, real-time problems, there has been a tendency towards rejection of sequential solutions for single-processor computers. Almost all modern application packages created in the above areas are focused on a parallel or distributed computing environment. This is primarily due to the ever-increasing requirements for the reliability of the results obtained and the accuracy of calculations, and hence the multiply increasing volumes of processed data [2,17,41]. In addition, new methods and algorithms for solving problems appear, the implementation of which on single-processor systems would be simply impossible due to increased requirements for the performance of the computing system. The ubiquity of various types of parallel systems also plays a positive role in this process. Simultaneously with the growing demand for parallel programs and the proliferation of multiprocessor, multicore and cluster technologies, the development of parallel programs is becoming more and more urgent, since program users want to make the most of the capabilities of their modern computing equipment[14,39]. The high complexity of the development of parallel programs, which often does not allow the efficient use of the capabilities of high-performance computers, is a generally accepted fact[23,31].

• 전자공학회논문지B
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• 제30B권6호
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• pp.9-19
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• 1993

This paper presents a new concept of a reconfigurable manipulator system which adjusts its mechanical structure to suit the kinematic characteristics of a given task. A highly redundant manipulator designed as a general purpose manipulator needs to be reconfigured for a specific task. A general task can be decomposed of motion and force components with different control requirements: either gross motion control or fine motion control. Each of these task components are distributed to each part of the manipulator based on the control requirements and the structure of the manipulator. Through the reconfiguration, a redundant manipulator is decomposed into two local arms, and the kinematic characteristics of each local arm is adjusted to suit the assigned task. The reconfigured redundant manipulator has two local arms well-configured for the local tasks and cooperating in serial for a given task. This globally enhances the performance of a redundant manipulator to execute a specific task. The simulation results are shown.