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

Roman Stephan; Paolo Mercorelli; Květoslav Belda

doi:10.1109/ICCC51557.2021.9454630

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

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-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/works › Article in conference proceedings › Research › peer-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 -

Other publications by the same author(s)

An Over-Actuated Hexacopter Tilt-Rotor UAV Prototype for Agriculture of Precision: Modeling and Control

Pimentel, G. O., Santos, M. F. D., Lima, J., Mercorelli, P. & Fernandes, F. M., 15.01.2025, In: Sensors. 25, 2, 27 p., 479.