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

Author(s)

Ruiz, Andres Gomez ^[1] ; Santos, Joao Cavalcanti ^[1] ; Croes, Jan ^{[2, 3]} ; Desmet, Wim ^{[2, 3]} ; da Silva, Maira Martins ^[1]

Affiliation

^[1] Univ Sao Paulo, Sao Carlos Sch Engn, Dept Mech Engn, Av Trabalhador Sao Carlense 400, BR-13566590 Sao Carlos, SP - Brazil

^[2] Katholieke Univ Leuven, Prod Engn Machine Design & Automat PMA Sect, Celestijnenlaan 300, B-3001 Leuven - Belgium

^[3] Flanders Make, Oude Diestersebaan 133, B-3920 Lommel - Belgium

• Document type: Journal article
• Source: ROBOTICA; v. 36, n. 6, p. 809-821, JUN 2018.
• Web of Science Citations: 6

Abstract

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. (AU)

• FAPESP's process: 14/01809-0 - Towards high speed planar robotic manipulators, Phase I: kinematic redundancy
• Grantee: Maira Martins da Silva
• Support Opportunities: Regular Research Grants
• FAPESP's process: 14/21946-2 - Numerical and experimental investigation on the dynamic performance of kinematically redundant parallel planar manipulator
• Grantee: João Cavalcanti Santos
• Support Opportunities: Scholarships in Brazil - Master