Open-loop control of class-2 tensegrity towers

Milenko Masic; Robert E. Skelton

doi:10.1117/12.540370

26 July 2004 Open-loop control of class-2 tensegrity towers

Milenko Masic, Robert E. Skelton

Proceedings Volume 5383, Smart Structures and Materials 2004: Modeling, Signal Processing, and Control; (2004) https://doi.org/10.1117/12.540370
Event: Smart Structures and Materials, 2004, San Diego, CA, United States

Abstract

This paper concerns open-loop control laws for reconfiguration of tensegrity towers. By postulating the control strategy as an equilibrium tracking control, very little control energy is required. Several different reconfiguration scenarios are possible for different string connectivity schemes. This includes unit radius control, twist angle control and truncation parameter control. All these control laws allow a nonuniform distribution of the control parameters among units. By defining a wave--like reference signal and injecting it in the open--loop control law, we demonstrate the concept of self--propelled tensegrity structure that are capable of locomotion.

Citation Download Citation

Milenko Masic and Robert E. Skelton "Open-loop control of class-2 tensegrity towers", Proc. SPIE 5383, Smart Structures and Materials 2004: Modeling, Signal Processing, and Control, (26 July 2004); https://doi.org/10.1117/12.540370

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