| In this dissertation research, we develop algorithms for finding all solutions to the inverse kinematics problem in such a way that the algorithms are numerically verified and faster than previously known methods. We present both a serial algorithm and a parallel algorithm, and then we implement both using the C-XSC library. These implementations are tested against known inverse kinematics example problems and are then compared against the performance of previously known algorithms. Reliability, robustness, scalability, and communication overhead are also discussed. |
