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

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jcse/volume-2014/857947/figures/857947.fig.009a.svgz" name="857947.fig.009a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Peg in hole</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jcse/volume-2014/857947/figures/857947.fig.009b.svgz" name="857947.fig.009b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Surface tracking</td></tr></table>

<div>Application of 6PUS-UPU parallel manipulator.</div>

Journal of Control Science and Engineering

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Figure 9

Figure 9: Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control 