Linearization-Based Forward Kinematic Algorithm for Tensegrity Structures with Compressible Struts

This paper presents a new local linearization method for elastic forces in tensegrity structures, which can be used to solve forward kinematic problems. Forward kinematic problems are often solved as a part of inverse kinematic algorithms and trajectory planning in robotics, and it is often desirable to be able to perform those algorithms online. The proposed method allows us to solve forward kinematics as a quadratic program, which makes it fast and reliable and allows us to take advantage of the existing convex programming software. The paper demonstrates the work of the proposed method using a three-link tensegrity structure.