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parallel kinematic manipulators

Robotica (1)

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On redundancy resolution and energy consumption of kinematically redundant planar parallel manipulators
Andrés Gómez Ruiz, João Cavalcanti Santos, Jan Croes, Wim Desmet, Maíra Martins da Silva
Journal:

Robotica / Volume 36 / Issue 6 / June 2018

Published online by Cambridge University Press:

24 January 2018, pp. 809-821
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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 3PRRR 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 3RRR for executing predefined tasks can be considerably reduced by the inclusion of kinematic redundancies.