Sparse Node-Distance Coordinate Representation for Tensegrity Structures

In this work, a nonminimal coordinate representation of tensegrity structures with explicit constraints is introduced. A method is proposed for representation of results on tensegrity structures in sparse models of generalized forces, providing advantages for code generation for symbolic or autodifferentiation derivation tasks, and giving diagonal linear models with constant inertia matrices, allowing one not only to simplify computations and matrix inversions, but also to lower the number of elements that need to be stored when the linear model is evaluated along a trajectory.