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

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet


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.

Titel2021 22nd International Carpathian Control Conference, ICCC 2021
Anzahl der Seiten6
VerlagIEEE - Institute of Electrical and Electronics Engineers Inc.
ISBN (Print)978-1-7281-8610-8
ISBN (elektronisch)978-1-7281-8609-2
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