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

0542928 - ÚTIA 2022 RIV US eng K - Conference Paper (Czech conference)
Stephan, R. - Mercorelli, P. - Belda, Květoslav
Energy Optimization in Motion Planning of a Two-Link Manipulator using Bernstein Polynomials.
Proceedings of the ICCC 2021: 22nd International Carpathian Control Conference. Piscataway: IEEE, 2021, č. článku 76. ISBN 978-1-7281-8609-2.
[ICCC 2021 : International Carpathian Control Conference /22./. Velke Karlovice (CZ), 31.05.2021-01.06.2021]
Institutional support: RVO:67985556
Keywords : Bernstein polynomials * Bézier curve * Optimisation * Two-Link manipulator
OECD category: Mechanical engineering
http://library.utia.cas.cz/separaty/2021/AS/belda-0542928.pdf

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.
Permanent Link: http://hdl.handle.net/11104/0320287