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A comprehensive dynamic model for class-1 tensegrity systems based on quaternions

Autor
Cefalo, M.; Mirats, J.
Tipus d'activitat
Article en revista
Revista
International journal of solids and structures
Data de publicació
2011
Volum
48
Número
5
Pàgina inicial
785
Pàgina final
802
DOI
https://doi.org/10.1016/j.ijsolstr.2010.11.015 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/15791 Obrir en finestra nova
URL
http://dx.doi.org/10.1016/j.ijsolstr.2010.11.015 Obrir en finestra nova
Resum
In this paper we propose a new dynamic model, based on quaternions, for tensegrity systems of class-1. Quaternions are used to represent orientations of a rigid body in the 3-dimensional space eliminating the problem of singularities. Moreover, the equations based on quaternions allow to perform more precise calculations and simulations because they do not use trigonometric functions for the representation of angles. We present a thorough introduction of tensegrities and the current state of res...
Citació
Cefalo, M.; Mirats, J. A comprehensive dynamic model for class-1 tensegrity systems based on quaternions. "International journal of solids and structures", 2011, vol. 48, núm. 5, p. 785-802.
Paraules clau
quaternions, robots PARAULES AUTOR: dynamic model, tensegrity

Participants

  • Cefalo, Massimo  (autor)
  • Mirats Tur, Josep Maria  (autor)