This paper presents the dynamic model of a kinematically-redundant planar parallel manipulator and an optimization method to minimize the actuator torques when the end-effector is subjected to a wrench while following a trajectory. A previous study proposed a kinetostatic approach to solve the same problem. The objective of the work presented here was to verify if the kinetostatic assumption was valid.The inclusion of the dynamic model in the optimization produced some undesirable oscillations and required the use of a different objective function. It is shown that for the application considered, the kinetostatic approach provided an acceptable solution.
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