Orthogonal projection and norm

Orthogonal projection and norm

For $Q=Q^T>0$ and $R=R^T$ and $A$ Full Row Rank,
What can we say about $R$ if the norm $\left\Vert
\left(I-A^{-R}A\right)R\right\Vert
_{Q}^{2}=\left(I-A^{-R}A\right)RQ\left(I-A^{-R}A\right)R=0$ ?
Here $A^{-R}=A^T(AA^T)^{-1}$