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Modelling and Control of Class NSP Tensegrity Structure

Kanchanasaratool, Narongsak; Williamson, Darrell


The method of constrained particle dynamics is used to develop a dynamic model of order 12N for a general class of tensegrity structures consisting of N compression members (i.e. bars) and tensile members (i.e. cables). This model is then used as the basis for the design of a feedback control system which adjusts the lengths of the bars to regulate the shape of the structure with respect to a given equilibrium shape. A detailed design is provided for a 3-bar structure.

CollectionsANU Research Publications
Date published: 2002
Type: Journal article
Source: International Journal of Control
DOI: 10.1080/00207170110070563


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