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Proceedings Paper

Tendon control deployment of tensegrity structures
Author(s): Cornel Sultan; Robert T. Skelton
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Paper 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.

Paper Details

Date Published: 24 July 1998
PDF: 12 pages
Proc. SPIE 3323, Smart Structures and Materials 1998: Mathematics and Control in Smart Structures, (24 July 1998); doi: 10.1117/12.316325
Show Author Affiliations
Cornel Sultan, Purdue Univ. (United States)
Robert T. Skelton, Univ. of California/San Diego (United States)


Published in SPIE Proceedings Vol. 3323:
Smart Structures and Materials 1998: Mathematics and Control in Smart Structures
Vasundara V. Varadan, Editor(s)

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