24 July 1998 Tendon control deployment of tensegrity structures
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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.
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Cornel Sultan, Cornel Sultan, Robert T. Skelton, 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); doi: 10.1117/12.316325; https://doi.org/10.1117/12.316325

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