6 research outputs found
Passivity-Preserving, Balancing-Based Model Reduction for Interconnected Systems
This paper proposes a balancing-based model reduction approach for an
interconnection of passive dynamic subsystems. This approach preserves the
passivity and stability of both the subsystems and the interconnected system.
Hereto, one Linear Matrix Inequality (LMI) per subsystem and a single Lyapunov
equation for the entire interconnected system needs to be solved, the latter of
which warrants the relevance of the reduction of the subsystems for the
accurate reduction of the interconnected system, while preserving the
modularity of the reduction approach. In a numerical example from structural
dynamics, the presented approach displays superior accuracy with respect to an
approach in which the individual subsystems are reduced independently.Comment: 6 pages, 4 figures, to appear in Proceedings of IFAC World Congress
202
First version of an Impact Aware Manipulation (I.AM.) archive
Update of the first version of an I.AM. archive. Changes with respect to the previous version are the file structure, metadata structure, and license. This archive contains recordings of experiments that are executed under the scenario of TOSS. In these recordings, a UR10 robot is used to toss boxes on a conveyor belt. Thepurpose of these experiments is to validate a modeling framework. This modeling framework is used within the H2020 I.AM. project (www.i-am-project.eu) to predict the end pose of a certain box on a conveyor belt, after it is tossed.This means that the involved contact transitions are between the object and the environment, which in these recordings is a box and a conveyor. All the recordings in the archive were performed at the Innovation Lab of Vanderlande, located within the TU/e campus