Nonminimal Dynamics of General Class k Tensegrity Systems

被引：19

作者：

Cheong, Joono ^{[1
]}

Skelton, Robert E. ^{[2
]}

机构：

[1] Korea Univ, Dept Control & Instrumentat Engn, Sejong City 339700, South Korea

[2] Univ Calif San Diego, Dept Mech & Aerosp Engn, La Jolla, CA 92093 USA

来源：

INTERNATIONAL JOURNAL OF STRUCTURAL STABILITY AND DYNAMICS | 2015年 / 15卷 / 02期

关键词：

Tensegrity systems; dynamics; matrix differential algebraic equation (matrix DAE); constraints;

D O I：

10.1142/S0219455414500424

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

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.

引用

页数：22

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