Efficient dynamic models of tensegrity systems Conference Paper uri icon


  • The multi-body dynamics appear in a new form, as a matrix differential equation, rather than the traditional vector differential equation. The model has a constant mass matrix, and the equations are non-minimal. A specific focus of this paper is tensegrity systems. A tensegrity system requires prestress for stabilization of the configuration of rigid bodies and tensile members. This paper provides an efficient model for both static and dynamic behavior of such systems, specialized for the case when the rigid bodies are axi-symmetric rods. 2009 SPIE.

name of conference

  • Modeling, Signal Processing, and Control for Smart Structures 2009

published proceedings

  • Proceedings of SPIE

author list (cited authors)

  • Skelton, R.

citation count

  • 2

complete list of authors

  • Skelton, Robert

editor list (cited editors)

  • Lindner, D. K.

publication date

  • March 2009