Nonminimal Dynamics of General Class k Tensegrity Systems
| Author(s): |
Joono Cheong
Robert E. Skelton |
|---|---|
| Medium: | journal article |
| Language(s): | English |
| Published in: | International Journal of Structural Stability and Dynamics, February 2015, n. 2, v. 15 |
| Page(s): | 1450042 |
| DOI: | 10.1142/s0219455414500424 |
| Abstract: |
This paper addresses a unified formulation of dynamics of general class k(k = 1,2,…,) tensegrity systems using nonminimal coordinates in a matrix form. The dynamics are described by a matrix differential equation with a set of linear constraints, yielding a compact and simplified form. A reduced form of the dynamics is also provided by embedding the linear constraints to the full-order dynamics. |
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14/08/2019
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