Integrated Structure and Control Design of Modular Tensegrities Conference Paper

abstract

• This paper demonstrates a method for prestress optimization of tensegrity structures resulting in their optimal mixed dynamic and control performance. Prestress of a structure is parameterized using force-density variables that appear linearly in its linearized dynamic model. A feasible region for these parameters is defined in terms of the extreme directions of the prestress cone. A numerical method is proposed for computing this particular basis for the structure prestress cone. The problem is solved using a gradient method based on the sensitivity analysis. A numerical example of a cantilevered planar tensegrity beam is shown. 2005 IEEE.

name of conference

• Proceedings of the 44th IEEE Conference on Decision and Control

authors

• Skelton, Robert

published proceedings

• Proceedings of the 44th IEEE Conference on Decision and Control

author list (cited authors)

• Masic, M., Skelton, R. E., & De Oliveira, M. C.

citation count

• 4

complete list of authors

• Masic, Milenko||Skelton, Robert E||De Oliveira, Mauricio Carvalho

publication date

• January 2005

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

Digital Object Identifier (DOI)

• 10.1109/cdc.2005.1583496

International Standard Book Number (ISBN) 10

• 0780395689

International Standard Book Number (ISBN) 13

• 9780780395688

start page

• 1

end page

• 6

volume

• 2005

URL

• http://dx.doi.org/10.1109/cdc.2005.1583496