Tendon control deployment of tensegrity structures

Cornel Sultan; Robert T. Skelton

doi:10.1117/12.316325

24 July 1998 Tendon control deployment of tensegrity structures

Cornel Sultan, Robert T. Skelton

Proceedings Volume 3323, Smart Structures and Materials 1998: Mathematics and Control in Smart Structures; (1998) https://doi.org/10.1117/12.316325
Event: 5th Annual International Symposium on Smart Structures and Materials, 1998, San Diego, CA, United States

Abstract

In this paper we consider the problem of deployment of tensegrity structures. Our idea is to make use of a certain set of equilibria to which the undeployed and deployed configurations belong. In the state space this set is represented by a connected equilibrium manifold and can be completely characterized analytically. The deployment is conducted such that the deployment trajectory is close to the equilibrium manifold and the deployment time is minimized.

Citation Download Citation

Cornel Sultan and Robert T. Skelton "Tendon control deployment of tensegrity structures", Proc. SPIE 3323, Smart Structures and Materials 1998: Mathematics and Control in Smart Structures, (24 July 1998); https://doi.org/10.1117/12.316325

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