Dismiss Notice
Join Physics Forums Today!
The friendliest, high quality science and math community on the planet! Everyone who loves science is here!

Lagrange equation of motion for tensegrity

  1. Aug 23, 2015 #1
    I have read this paper “Dynamic equations of motion for a 3-bar tensegrity based mobile robot” (1) and this one “Dynamic Simulation of Six-strut Tensegrity Robot Rolling”.

    1) http://digital.csic.es/bitstream/10261/30336/1/Dynamic equations.pdf

    I am trying to implement a tensegrity, actuated system following the first paper, but I came at a point that I calculate the Kinetic Energy, Potential Energy and virtual work of the system. I have to update the pose of each bar.

    The paper gives me the equation of motion (Euler-Lagrange) but uses the velocity and acceleration that i don’t know how to calculate. It says at the end about using Runge-Kutta integration but I don’t understand how I will define them in the first place or how i will proceed. I cannot understand how it’s updating the positions for the tensegrity to move.

    Thank you
  2. jcsd
  3. Aug 24, 2015 #2


    User Avatar
    Education Advisor
    Gold Member

Know someone interested in this topic? Share this thread via Reddit, Google+, Twitter, or Facebook

Similar Threads - Lagrange equation motion Date
I Euler-Lagrange query Dec 20, 2016
I Lagrange multiplier Nov 29, 2016
What is the Lagrange Multiplier Aug 8, 2016
I Lagrange interpolation May 10, 2016
What is the Euler-Lagrange equation Jul 23, 2014