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

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

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 ; No. 22).

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

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 , no. 22, IEEE - Institute of Electrical and Electronics Engineers Inc., Piscataway, 22nd International Carpathian Control Conference, ICCC 2021, Virtual, Velke Karlovice, Czech Republic, 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 Article 9454630 (International Carpathian Control Conference, ICCC ; No. 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 -

Recently viewed

Publications

  1. Using Fuzzy PD Controllers for Soft Motions in a Car-like Robot
  2. Improved sensorimotor control is not connected with improved proprioception
  3. An analytical approach to evaluating monotonic functions of fuzzy numbers
  4. Some model properties to control a permanent magnet machine using a controlled invariant subspace
  5. A structural property of the wavelet packet transform method to localise incoherency of a signal
  6. Advances in Dynamics, Optimization and Computation
  7. A Theoretical Dynamical Noninteracting Model for General Manipulation Systems Using Axiomatic Geometric Structures
  8. Robust Control of Mobile Transportation Object with 3D Technical Vision System
  9. Return of Fibonacci random walks
  10. Machine Learning and Knowledge Discovery in Databases
  11. Dimension estimates for certain sets of infinite complex continued fractions
  12. Validation of an open source, remote web-based eye-tracking method (WebGazer) for research in early childhood
  13. Energy Optimization in Motion Planning of a Two-Link Manipulator using Bernstein Polynomials
  14. Adjustable automation and manoeuvre control in automated driving
  15. An observer for sensorless variable valve control in camless internal combustion engines
  16. Multilevel bridge governor by using model predictive control in wavelet packets for tracking trajectories
  17. A PD regulator to minimize noise effect using a minimal variance method for soft landing control of an electromagnetic valve actuator
  18. A simple control strategy for increasing the soft bending actuator performance by using a pressure boost
  19. Use of Machine-Learning Algorithms Based on Text, Audio and Video Data in the Prediction of Anxiety and Post-Traumatic Stress in General and Clinical Populations
  20. Comparison of Trajectory Estimation Methods Based on LIDAR and Monocular Camera in a Simulated Environment
  21. Automatic feature selection for anomaly detection
  22. The Forgotten Function of Forgetting
  23. Kit based motion generator for a soft walking robot
  24. Structural Synthesis of Parallel Robots with Unguided Linear Actuators
  25. Parameterized Synthetic Image Data Set for Fisheye Lens
  26. Document assignment in multi-site search engines
  27. Detection time analysis of propulsion system fault effects in a hexacopter
  28. On the utility of indirect methods for detecting faking
  29. On the origin of passive rotation in rotational joints, and how to calculate it
  30. Homogenization methods for multi-phase elastic composites with non-elliptical reinforcements
  31. Mining Implications From Data
  32. Early Detection of Faillure in Conveyor Chain Systems by Wireless Sensor Node
  33. Trait-based approaches to analyze links between the drivers of change and ecosystem services
  34. Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor
  35. Robust Control of Excavation Mobile Robot with Dynamic Triangulation Vision
  36. Optimal dynamic scale and structure of a multi-pollution economy
  37. An error management perspective on audit quality
  38. A high-resolution approach for the spatiotemporal analysis of forest canopy space using terrestrial laser scanning data
  39. Obstacle Coordinates Transformation from TVS Body-Frame to AGV Navigation-Frame
  40. Impulsive Feedback Linearization for Decoupling of a Constant Disturbance with Low Relative Degree to Control Maglev Systems
  41. A Sliding Mode Control with a Bang-Bang Observer for Detection of Particle Pollution
  42. Global Finite-Time Stabilization of Planar Linear Systems With Actuator Saturation
  43. A Lyapunov based PI controller with an anti-windup scheme for a purification process of potable water
  44. The Impact of AGVs and Priority Rules in a Real Production Setup – A Simulation Study
  45. Performance of process-based models for simulation of grain N in crop rotations across Europe
  46. A Control of an Electromagnetic Actuator Using Model Predictive Control
  47. Passive Rotation Compensation in Parallel Kinematics Using Quaternions
  48. Educational reconstruction as model for the theory-based design of student-centered learning environments in electrical engineering courses
  49. An isomorphism between polynomial eigenfunctions of the transfer operator and the Eichler cohomology for modular groups
  50. A geometric approach for the design and control of an electromagnetic actuator to optimize its dynamic performance