A review of parallel processing approaches to robot kinematics and Jacobian

Due to continuously increasing demands in the area of advanced robot
control, it became necessary to speed up the computation. One way to
reduce the computation time is to distribute the computation onto
several processing units. In this survey we present different approaches
to parallel computation of robot kinematics and Jacobian. Thereby, we
discuss both the forward and the reverse problem. We introduce a
classification scheme and classify the references by this scheme.