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Nonminimal Dynamics of General Class k Tensegrity Systems
- Authors
- Cheong, Joono; Skelton, Robert E.
- Issue Date
- 3월-2015
- Publisher
- WORLD SCIENTIFIC PUBL CO PTE LTD
- Keywords
- Tensegrity systems; dynamics; matrix differential algebraic equation (matrix DAE); constraints
- Citation
- INTERNATIONAL JOURNAL OF STRUCTURAL STABILITY AND DYNAMICS, v.15, no.2
- Indexed
- SCIE
SCOPUS
- Volume
- 15
- Number
- 2
- ISSN
- 0219-4554
- 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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