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Journal of Control Science and Engineering

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Journal of Control Science and Engineering / 2013 / Article / Fig 11

Research Article

Position Control of a 3-CPU Spherical Parallel Manipulator

Figure 11

Joint-space PID controller: platform’s trajectory in task-space (a), joint space errors (b), and motors thrusts (c).
136841.fig.0011a
(a)
136841.fig.0011b
(b)
136841.fig.0011c
(c)
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