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A numerical algorithm for tensegrity dynamics with non-minimal coordinates
- Authors
- Cheong, Joono; Skelton, Robert E.; Cho, Youngsu
- Issue Date
- 6월-2014
- Publisher
- PERGAMON-ELSEVIER SCIENCE LTD
- Keywords
- Tensegrity; Numerical correction; Dynamics; Non-minimal coordinates; Constraints
- Citation
- MECHANICS RESEARCH COMMUNICATIONS, v.58, pp.46 - 52
- Indexed
- SCIE
SCOPUS
- Journal Title
- MECHANICS RESEARCH COMMUNICATIONS
- Volume
- 58
- Start Page
- 46
- End Page
- 52
- ISSN
- 0093-6413
- Abstract
- This paper provides a numerical correction algorithm for implementation of the dynamics of tensegrity systems described by non-minimal coordinates. This correction algorithm corrects any numerical error that would violate the fixed-length bar constraints. A recursive form of the correction algorithm is proposed, and simulation results support the validity of the proposed scheme. (C) 2014 Elsevier Ltd. All rights reserved.
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