Energy Optimization in Motion Planning of a Two-Link Manipulator using Bernstein Polynomials

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Authors

In this paper the mechanical system of a two-link manipulator will be optimized in terms of energy consumption using the framework of Bernstein polynomials. Considering specific definition of the cost function, the required torque is minimized such a way to move the system from one given position to another as well as to guarantee a smooth trajectory of the end effector between these positions. The unique property of Bernstein polynomials having an underlying symmetry within the individual basis functions is the motivation for using them in this environment. The results of the paper show a lower energy consumption due to its symmetric properties, compared to power based polynomials, and a smooth trajectory considering an indirect motion determined by a third, intermediate point.

OriginalspracheEnglisch
Titel2021 22nd International Carpathian Control Conference, ICCC 2021
Anzahl der Seiten6
ErscheinungsortPiscataway
VerlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Erscheinungsdatum31.05.2021
Aufsatznummer9454630
ISBN (Print)978-1-7281-8610-8
ISBN (elektronisch)978-1-7281-8609-2
DOIs
PublikationsstatusErschienen - 31.05.2021
Veranstaltung22nd International Carpathian Control Conference, ICCC 2021 - Online, Virtual, Velke Karlovice, Tschechische Republik
Dauer: 31.05.202101.06.2021
Konferenznummer: 22
http://www.icc-conf.cz/conference/iccc2021/

Zugehörige Aktivitäten

DOI

Zuletzt angesehen

Publikationen

  1. Adjustable automation and manoeuvre control in automated driving
  2. An observer for sensorless variable valve control in camless internal combustion engines
  3. Multilevel bridge governor by using model predictive control in wavelet packets for tracking trajectories
  4. A PD regulator to minimize noise effect using a minimal variance method for soft landing control of an electromagnetic valve actuator
  5. A simple control strategy for increasing the soft bending actuator performance by using a pressure boost
  6. Use of Machine-Learning Algorithms Based on Text, Audio and Video Data in the Prediction of Anxiety and Post-Traumatic Stress in General and Clinical Populations
  7. Comparison of Trajectory Estimation Methods Based on LIDAR and Monocular Camera in a Simulated Environment
  8. Automatic feature selection for anomaly detection
  9. The Forgotten Function of Forgetting
  10. Kit based motion generator for a soft walking robot
  11. Structural Synthesis of Parallel Robots with Unguided Linear Actuators
  12. Parameterized Synthetic Image Data Set for Fisheye Lens
  13. Document assignment in multi-site search engines
  14. Detection time analysis of propulsion system fault effects in a hexacopter
  15. On the utility of indirect methods for detecting faking
  16. On the origin of passive rotation in rotational joints, and how to calculate it
  17. Homogenization methods for multi-phase elastic composites with non-elliptical reinforcements
  18. Mining Implications From Data
  19. Early Detection of Faillure in Conveyor Chain Systems by Wireless Sensor Node
  20. Trait-based approaches to analyze links between the drivers of change and ecosystem services
  21. Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor
  22. Robust Control of Excavation Mobile Robot with Dynamic Triangulation Vision
  23. Optimal dynamic scale and structure of a multi-pollution economy
  24. An error management perspective on audit quality
  25. A high-resolution approach for the spatiotemporal analysis of forest canopy space using terrestrial laser scanning data
  26. Obstacle Coordinates Transformation from TVS Body-Frame to AGV Navigation-Frame
  27. Impulsive Feedback Linearization for Decoupling of a Constant Disturbance with Low Relative Degree to Control Maglev Systems
  28. A Sliding Mode Control with a Bang-Bang Observer for Detection of Particle Pollution
  29. Global Finite-Time Stabilization of Planar Linear Systems With Actuator Saturation
  30. A Lyapunov based PI controller with an anti-windup scheme for a purification process of potable water
  31. The Impact of AGVs and Priority Rules in a Real Production Setup – A Simulation Study
  32. Performance of process-based models for simulation of grain N in crop rotations across Europe
  33. A Control of an Electromagnetic Actuator Using Model Predictive Control
  34. Passive Rotation Compensation in Parallel Kinematics Using Quaternions
  35. Educational reconstruction as model for the theory-based design of student-centered learning environments in electrical engineering courses
  36. An isomorphism between polynomial eigenfunctions of the transfer operator and the Eichler cohomology for modular groups
  37. A geometric approach for the design and control of an electromagnetic actuator to optimize its dynamic performance
  38. Machine vision system errors for unmanned aerial vehicle navigation
  39. Modernizing persistence–bioaccumulation–toxicity (PBT) assessment with high throughput animal-free methods
  40. Factor structure and measurement invariance of the Students’ Self-report Checklist of Social and Learning Behaviour (SSL)
  41. A Structure and Content Prompt-based Method for Knowledge Graph Question Answering over Scholarly Data
  42. Simple relay non-linear PD control for faster and high-precision motion systems with friction
  43. Controlling a Bank Model Economy by Using an Adaptive Model Predictive Control with Help of an Extended Kalman Filter
  44. Reading Comprehension as Embodied Action: Exploratory Findings on Nonlinear Eye Movement Dynamics and Comprehension of Scientific Texts
  45. WHICH ESTIMATION SITUATIONS ARE RELEVANT FOR A VALID ASSESSMENT OF MEASUREMENT ESTIMATION SKILLS
  46. Individual Scans Fusion in Virtual Knowledge Base for Navigation of Mobile Robotic Group with 3D TVS
  47. DISKNET – A Platform for the Systematic Accumulation of Knowledge in IS Research
  48. Image compression based on periodic principal components
  49. On the computation of the warping function and the torsional properties of thin-walled crosssections of prismatic beams