A numerical algorithm for tensegrity dynamics with non-minimal coordinates

•A numerical algorithm for non-minimal dynamics of tensegrity systems.•Exact amount of numerical drift violating constraints is compensated.•A recursive form of the correction algorithm is proposed.•Illustration using two-stage tensegrity prism and tensegrity icosahedron.

This paper provides a numerical correction algorithm for implementation of the dynamics of tensegrity systems described by non-minimal coordinates. This correction algorithm corrects any numerical error that would violate the fixed-length bar constraints. A recursive form of the correction algorithm is proposed, and simulation results support the validity of the proposed scheme.