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

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

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.

Original languageEnglish
Title of host publication2021 22nd International Carpathian Control Conference, ICCC 2021
Number of pages6
Place of PublicationPiscataway
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date31.05.2021
Article number9454630
ISBN (print)978-1-7281-8610-8
ISBN (electronic)978-1-7281-8609-2
DOIs
Publication statusPublished - 31.05.2021
Event22nd International Carpathian Control Conference, ICCC 2021 - Online, Virtual, Velke Karlovice, Czech Republic
Duration: 31.05.202101.06.2021
Conference number: 22
http://www.icc-conf.cz/conference/iccc2021/

Bibliographical 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:
© 2021 IEEE.

    Research areas

  • Bernstein polynomials, Bézier curve, Optimization, Two-Link manipulator
  • Engineering

Recently viewed

Publications

  1. Set oriented approximation of invariant manifolds
  2. A tutorial introduction to adaptive fractal analysis
  3. Human–learning–machines: introduction to a special section on how cybernetics and constructivism inspired new forms of learning
  4. A sensor fault detection scheme as a functional safety feature for DC-DC converters
  5. Fast, Fully Automated Analysis of Voriconazole from Serum by LC-LC-ESI-MS-MS with Parallel Column-Switching Technique
  6. Computational modeling of amorphous polymers
  7. Dynamic Lot Size Optimization with Reinforcement Learning
  8. The delay vector variance method and the recurrence quantification analysis of energy markets
  9. Dispatching rule selection with Gaussian processes
  10. Analysis of long-term statistical data of cobalt flows in the EU
  11. Computing regression statistics from grouped data
  12. Image compression based on periodic principal components
  13. Gaussian processes for dispatching rule selection in production scheduling
  14. Digging into the roots
  15. Gain Adaptation in Sliding Mode Control Using Model Predictive Control and Disturbance Compensation with Application to Actuators
  16. Knowledge Graph Question Answering and Large Language Models
  17. Challenge-oriented policy making and innovation systems theory: reconsidering systemic instruments
  18. Faulty Process Detection Using Machine Learning Techniques
  19. What can conservation strategies learn from the ecosystem services approach?
  20. A Class of Simple Stochastic Online Bin Packing Algorithms
  21. Constraints are the solution, not the problem
  22. Development and evaluation of a training program for dialysis nurses - An intervention study
  23. Overcoming Multi-legacy Application Challenges through Building Dynamic Capabilities for Low-Code Adoption
  24. Positioning Improvement for a Laser Scanning System using cSORPD control
  25. Extending talk on a prescribed discussion topic in a learner-native speaker eTandem learning task
  26. A Multimethod Latent State-Trait Model for Structurally Different and Interchangeable Methods
  27. Handicaps in job assignment
  28. Covert and overt automatic imitation are correlated
  29. Towards an open question answering architecture