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Journal of Control Science and Engineering
Volume 2014, Article ID 857947, 6 pages
Research Article

Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control

Key Laboratory of Advanced Forging & Stamping Technology and Science and Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, China

Received 16 September 2014; Accepted 16 November 2014; Published 8 December 2014

Academic Editor: Hung-Yuan Chung

Copyright © 2014 Kuijing Zheng and Chao Wang. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


To improve control performance of parallel manipulator, servo control is optimized according to 2-DOF control with Internal Model Control. Position loop of the controller is redesigned based on the original current loop and speed loop. The hybrid force/position control strategy on the basis of cross-coupling is proposed. With mechatronic cosimulation system, it is proved that the force/position hybrid control on the basis of 2-DOF Internal Model Control has better stability and position precision compared with the traditional PID control. The control precision and stability of the parallel manipulator are improved effectively in actual experiment. Two types of compliance operation including peg in hole and surface tracking are realized in 6PUS-UPU parallel manipulator and both have good applicable effect.