A numerical algorithm for tensegrity dynamics with non-minimal coordinates Academic Article uri icon


  • 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. 2014 Elsevier Ltd. All rights reserved.

published proceedings

  • Mechanics Research Communications

author list (cited authors)

  • Cheong, J., Skelton, R. E., & Cho, Y.

citation count

  • 12

complete list of authors

  • Cheong, Joono||Skelton, Robert E||Cho, Youngsu

publication date

  • June 2014