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

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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