A numerical algorithm for tensegrity dynamics with non-minimal coordinates

초록

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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