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

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Standard

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 SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Harvard

Stephan, R, Mercorelli, P & Belda, K 2021, Energy Optimization in Motion Planning of a Two-Link Manipulator using Bernstein Polynomials. in 2021 22nd International Carpathian Control Conference, ICCC 2021., 9454630, International Carpathian Control Conference, ICCC , Nr. 22, IEEE - Institute of Electrical and Electronics Engineers Inc., Piscataway, 22nd International Carpathian Control Conference, ICCC 2021, Virtual, Velke Karlovice, Tschechische Republik, 31.05.21. https://doi.org/10.1109/ICCC51557.2021.9454630

APA

Stephan, R., Mercorelli, P., & Belda, K. (2021). Energy Optimization in Motion Planning of a Two-Link Manipulator using Bernstein Polynomials. In 2021 22nd International Carpathian Control Conference, ICCC 2021 Artikel 9454630 (International Carpathian Control Conference, ICCC ; Nr. 22). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCC51557.2021.9454630

Vancouver

Stephan R, Mercorelli P, Belda K. Energy Optimization in Motion Planning of a Two-Link Manipulator using Bernstein Polynomials. in 2021 22nd International Carpathian Control Conference, ICCC 2021. Piscataway: IEEE - Institute of Electrical and Electronics Engineers Inc. 2021. 9454630. (International Carpathian Control Conference, ICCC ; 22). doi: 10.1109/ICCC51557.2021.9454630

Bibtex

@inbook{a2365b6418f344ad834d6c929a7141d3,
title = "Energy Optimization in Motion Planning of a Two-Link Manipulator using Bernstein Polynomials",
abstract = "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.",
keywords = "Bernstein polynomials, B{\'e}zier curve, Optimization, Two-Link manipulator, Engineering",
author = "Roman Stephan and Paolo Mercorelli and Kv{\v e}toslav Belda",
note = "Funding Information: The authors acknowledge FCT (Fundacao para a Ciencia e a Tecnologia), Lisbon, through the 3 Quadro Comunitrio de Apoio, the POCTI and FEDER programs, and the grant PTDC-EME-PME-108859-2008 (through IDMEC) and UID/CTM/50025/2013 (through IPC), and the SFRH/BD/74027/2010 PhD schollarship within POPH/FSE (Programa Operacional Potencial Humano/ Fundo Social Europeu). Publisher Copyright: {\textcopyright} 2021 IEEE.; 22nd International Carpathian Control Conference, ICCC 2021 ; Conference date: 31-05-2021 Through 01-06-2021",
year = "2021",
month = may,
day = "31",
doi = "10.1109/ICCC51557.2021.9454630",
language = "English",
isbn = "978-1-7281-8610-8",
series = "International Carpathian Control Conference, ICCC ",
publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",
number = "22",
booktitle = "2021 22nd International Carpathian Control Conference, ICCC 2021",
address = "United States",
url = "http://www.icc-conf.cz/conference/iccc2021/",

}

RIS

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 -

DOI

Zuletzt angesehen

Publikationen

  1. Entity linking in 40 languages using MAG
  2. Topic selection and development in learner-native speaker voice-based telecollaborative discourse
  3. Conjunctive cohesion in English language EU documents - A corpus-based analysis and its implications
  4. Internet of things and process performance improvements in manufacturing
  5. Integrating Common Ground and Informativeness in Pragmatic Word Learning
  6. E-stability and stability of adaptive learning in models with private information
  7. Effects Of Different Order Processing Strategies On Operating Curves Of Logistic Models
  8. Circular Scanning Resolution Improvement by its Velocity Close Loop Control
  9. Restoring Causal Analysis to Structural Equation ModelingReview of Causality: Models, Reasoning, and Inference (2nd Edition), by Judea Pearl
  10. A Study on the Performance of Adaptive Neural Networks for Haze Reduction with a Focus on Precision
  11. Neural network-based estimation and compensation of friction for enhanced deep drawing process control
  12. Student Behavior in Error-Correction-Tasks and its Relation to Perception of Competence
  13. Effects of diversity versus segregation on automatic approach and avoidance behavior towards own and other ethnic groups
  14. Development and application of a laboratory flux measurement system (LFMS) for the investigation of the kinetics of mercury emissions from soils
  15. Modelling biodegradability based on OECD 301D data for the design of mineralising ionic liquids
  16. Effective digital practice in the competence-oriented English as a foreign language classroom in Germany
  17. The Open Anchoring Quest Dataset: Anchored Estimates from 96 Studies on Anchoring Effects
  18. DISKNET – A Platform for the Systematic Accumulation of Knowledge in IS Research
  19. "Die Arbeit funktioniert"
  20. A direct test of the similarity assumption — Focusing on differences as compared with similarities decreases automatic imitation
  21. Introduction
  22. IT Governance in Scaling Agile Frameworks
  23. Image compression based on periodic principal components
  24. Different facets of tree sapling diversity influence browsing intensity by deer dependent on spatial scale
  25. Action Errors, Error Management, and Learning in Organizations
  26. Quantifying diffuse and point inputs of perfluoroalkyl acids in a nonindustrial river catchment
  27. Dichotomy or continuum? A global review of the interaction between autonomous and planned adaptations
  28. Challenge-oriented policy making and innovation systems theory: reconsidering systemic instruments
  29. Determinants and Outcomes of Dual Distribution:

Presse / Medien

  1. Wieder gefragt