On redundancy resolution and energy consumption of kinematically redundant planar parallel manipulators

SUMMARY Novel kinematic architectures can be alternatives for designing energy efficient robotic systems. In this work, the impact of kinematic redundancies in the energy consumption of a planar PKM, the 3 PR RR manipulator, is experimentally verified. Because of the presence of the kinematic redundancies, the inverse kinematic problem presents infinity solutions. In this way, a redundancy resolution scheme based on the Model Predictive Control technique is proposed and exploited. It can be concluded that the energy consumption of the non-redundant parallel manipulator 3 R RR for executing predefined tasks can be considerably reduced by the inclusion of kinematic redundancies.