Dynamics is the study of the forces required to cause the motion. There are two problems related to the dynamics of a manipulator: controlling the manipulator (inverse dynamics), and simulating the motion of the manipulator (forward dynamics). The dynamics module is the most time consuming among the manipulator's modules. That is because of the tremendous amount of calculation involved in the dynamics equations. This fact makes the dynamics module a good candidate for hardware implementation, to enhance the performance of the control and/or the simulation system.
There are some parallel algorithms to calculate the dynamics of a manipulator. Several approaches have been suggested in [7][6][5] based on a multiprocessor controller, and pipelined architectures to speed up the calculations.