Energy Optimization in Motion Planning of a Two-Link Manipulator using Bernstein Polynomials
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Energy Optimization in Motion Planning of a Two-Link Manipulator using Bernstein Polynomials. / Stephan, Roman; Mercorelli, Paolo; Belda, Květoslav.
2021 22nd International Carpathian Control Conference, ICCC 2021. Piscataway : IEEE - Institute of Electrical and Electronics Engineers Inc., 2021. 9454630 (International Carpathian Control Conference, ICCC ; Nr. 22).Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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TY - CHAP
T1 - Energy Optimization in Motion Planning of a Two-Link Manipulator using Bernstein Polynomials
AU - Stephan, Roman
AU - Mercorelli, Paolo
AU - Belda, Květoslav
N1 - Conference code: 22
PY - 2021/5/31
Y1 - 2021/5/31
N2 - 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.
AB - 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.
KW - Bernstein polynomials
KW - Bézier curve
KW - Optimization
KW - Two-Link manipulator
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85113370428&partnerID=8YFLogxK
U2 - 10.1109/ICCC51557.2021.9454630
DO - 10.1109/ICCC51557.2021.9454630
M3 - Article in conference proceedings
AN - SCOPUS:85113370428
SN - 978-1-7281-8610-8
T3 - International Carpathian Control Conference, ICCC
BT - 2021 22nd International Carpathian Control Conference, ICCC 2021
PB - IEEE - Institute of Electrical and Electronics Engineers Inc.
CY - Piscataway
T2 - 22nd International Carpathian Control Conference, ICCC 2021
Y2 - 31 May 2021 through 1 June 2021
ER -