This paper addresses a unified formulation of dynamics of general class k(k = 1,2,…,) tensegrity systems using nonminimal coordinates in a matrix form. The dynamics are described by a matrix differential equation with a set of linear constraints, yielding a compact and simplified form. A reduced form of the dynamics is also provided by embedding the linear constraints to the full-order dynamics.
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Cheong et al. (2014) studied this question.
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