Communications in Information and Systems

Volume 2 (2002)

Number 3

Motion control of a tensegrity platform

Pages: 299 – 324



Narongsak Kanchanasaratool (Faculty of Engineering & Information Technology, Australian National University, Canberra, Australia)

Darrell Williamson (Faculty of Informatics, University of Wollongong, New South Wales, Australia)


In this paper, we develop a passive nonlinear constrained particle dynamic model for a class of tensegrity platform structures. Based on the steady state input-output mapping, we then formulate a neural network inversion problem which is later used as the basis for the design of large scale path tracking algorithms.

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