In this paper parallel computation of manipulator forward dynamics is investigated. Considering three classes of algorithms for the solution of the problem, that is, the O(n), the O(n2), and the O(n 3) algorithms, parallelism in the problem is analyzed. It is shown that the problem belongs the class of NC and that the time and processors bounds are of O(log2n) and to O(n4), respectively. Howeve...
