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

Published online by Cambridge University Press:  24 January 2018

Andrés Gómez Ruiz ,
João Cavalcanti Santos ,
Jan Croes ,
Wim Desmet  and
Maíra Martins da Silva Open the ORCID record for Maíra Martins da Silva [Opens in a new window]
Andrés Gómez Ruiz
Affiliation:
Department of Mechanical Engineering, São Carlos School of Engineering, University of São Paulo, Av. Trabalhador São-Carlense, 400, 13566-590 São Carlos-SP, Brazil. E-mails: andresgomezruiz@usp.br, joao.cv.santos@gmail.com
João Cavalcanti Santos
Affiliation:
Department of Mechanical Engineering, São Carlos School of Engineering, University of São Paulo, Av. Trabalhador São-Carlense, 400, 13566-590 São Carlos-SP, Brazil. E-mails: andresgomezruiz@usp.br, joao.cv.santos@gmail.com
Jan Croes
Affiliation:
Production Engineering, Machine Design and Automation (PMA) Section, Katholieke Universiteit Leuven, Celestijnenlaan 300, 3001 Leuven, Belgium. E-mails: jan.croes@kuleuven.br, wim.desmet@kuleuven.be Flanders Make, Oude Diestersebaan 133, 3920 Lommel, Belgium
Wim Desmet
Affiliation:
Production Engineering, Machine Design and Automation (PMA) Section, Katholieke Universiteit Leuven, Celestijnenlaan 300, 3001 Leuven, Belgium. E-mails: jan.croes@kuleuven.br, wim.desmet@kuleuven.be Flanders Make, Oude Diestersebaan 133, 3920 Lommel, Belgium
Maíra Martins da Silva*
Affiliation:
Department of Mechanical Engineering, São Carlos School of Engineering, University of São Paulo, Av. Trabalhador São-Carlense, 400, 13566-590 São Carlos-SP, Brazil. E-mails: andresgomezruiz@usp.br, joao.cv.santos@gmail.com
*
*Corresponding author. E-mail: mairams@sc.usp.br
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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 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.

Keywords

Parallel kinematic manipulatorsKinematic redundancyEnergy consumptionModel Predictive controlRedundancy resolution
Type
Articles
Information
Robotica , Volume 36 , Issue 6 , June 2018 , pp. 809 - 821
Copyright
Copyright © Cambridge University Press 2018 

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