The problem of form-finding for a tensegrity structure is considered. We describe a method of arriving at stable placements of a given tensegrity structure by starting from a known stable placement and altering edge-lengths in a way consistent with the restrictions of the equilibrium equations. As an introduction, the main previous results concerning stability are presented. Deeper insight in the form-finding process is then offered through the characterization of the manifold to which

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... tensegrity systems belong. Several special cases are illustrated. A final example of a large system shows the reliability of the method.