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

UR - https://www.mendeley.com/catalogue/2d209a19-c82a-30a9-9921-d105b6192f67/

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 -