| bibtype |
K -
Conference Paper (Czech conference)
|
| ARLID |
0542928 |
| utime |
20240103225857.0 |
| mtime |
20210603235959.9 |
| title
(primary) (eng) |
Energy Optimization in Motion Planning of a Two-Link Manipulator using Bernstein Polynomials |
| specification |
| page_count |
6 s. |
| media_type |
E |
|
| serial |
| ARLID |
cav_un_epca*0542974 |
| ISBN |
978-1-7281-8609-2 |
| title
|
Proceedings of the ICCC 2021: 22nd International Carpathian Control Conference |
| publisher |
| place |
Piscataway |
| name |
IEEE |
| year |
2021 |
|
|
| keyword |
Bernstein polynomials |
| keyword |
Bézier curve |
| keyword |
Optimisation |
| keyword |
Two-Link manipulator |
| author
(primary) |
| ARLID |
cav_un_auth*0261190 |
| name1 |
Stephan |
| name2 |
R. |
| country |
DE |
|
| author
|
| ARLID |
cav_un_auth*0410019 |
| name1 |
Mercorelli |
| name2 |
P. |
| country |
DE |
|
| author
|
| ARLID |
cav_un_auth*0101064 |
| name1 |
Belda |
| name2 |
Květoslav |
| institution |
UTIA-B |
| full_dept (cz) |
Adaptivní systémy |
| full_dept |
Department of Adaptive Systems |
| department (cz) |
AS |
| department |
AS |
| full_dept |
Department of Adaptive Systems |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
|
| cas_special |
| abstract
(eng) |
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. |
| action |
| ARLID |
cav_un_auth*0410020 |
| name |
ICCC 2021 : International Carpathian Control Conference /22./ |
| dates |
20210531 |
| mrcbC20-s |
20210601 |
| place |
Velke Karlovice |
| country |
CZ |
|
| RIV |
JD |
| FORD0 |
20000 |
| FORD1 |
20300 |
| FORD2 |
20301 |
| reportyear |
2022 |
| num_of_auth |
3 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0320287 |
| mrcbC61 |
1 |
| confidential |
S |
| article_num |
76 |
| arlyear |
2021 |
| mrcbU14 |
SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
WOS |
| mrcbU63 |
cav_un_epca*0542974 Proceedings of the ICCC 2021: 22nd International Carpathian Control Conference 978-1-7281-8609-2 Piscataway IEEE 2021 |
|