Modeling and Control of a Redundant Tensegrity-Based Manipulator

Tensegrity-based mechanisms draw attention in particular for their deployability and compliance. However, task-based design and control of such systems are still open topics. In a previous work, a tensegrity-based manipulator was designed to respect the remote center of motion constraint. Only the workspace was then analyzed. Here, we develop the kinematic model of this manipulator and then exploit it for the control. Such a manipulator is redundant. The use of redundancy is discussed and evaluated in simulation with two control schemes using Jacobian based controllers.