Nonminimal Dynamics of General Class k Tensegrity Systems Academic Article uri icon


  • 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.

published proceedings

  • International Journal of Structural Stability and Dynamics

author list (cited authors)

  • Cheong, J., & Skelton, R. E.

citation count

  • 18

complete list of authors

  • Cheong, Joono||Skelton, Robert E

publication date

  • March 2015