Showing papers by "Cornel Sultan published in 1998"
24 Jul 1998
TL;DR: This paper considers the problem of deployment of tensegrity structures by making use of a certain set of equilibria to which the undeployed and deployed configurations belong, represented by a connected equilibrium manifold and can be completely characterized analytically.
Abstract: 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.
46 citations
24 Jul 1998
TL;DR: In this article, a smart tense-grity sensor is proposed for simultaneous measurement of six quantities: three orthogonal forces and three Orthogonal moments, which can be calibrated through pretension and damping adjustment.
Abstract: Tensegrity structures represent a special class of tendon space structures, whose members may simultaneously perform the functions of strength, sensing, actuating and feedback control. The paper exploits this advantage, proposing a smart tensegrity sensor for simultaneous measurement of six quantities: three orthogonal forces and three orthogonal moments. The paper shows how the static and dynamic characteristics of the device can be calibrated through pretension and damping adjustment. The external forces and torques of interest are estimated using the measurements provided by selected tendons. A state estimator, based on the linearized model, finalizes the design.
21 citations
TL;DR: A new motion simulator base don tendon controlled tensegrity structures is proposed which achieves robust tracking by the simulator of a desired motion with a robust nonlinear controller.
Abstract: In this paper we propose a new motion simulator base don tendon controlled tensegrity structures. The simulator is equipped with a robust nonlinear controller which achieves robust tracking by the simulator of a desired motion. The controller parameters can be tuned to guarantee tracking to within a prespecified tolerance and with a prescribed rate of exponential convergence. The design is verified through numerical simulations for specific longitudinal motions of a symmetric aircraft.
5 citations