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

Table 1

Parameters list.

Parameter	Data
	0.018
	0.15
	0.01475 s
	0.000188 kg·m^2
	0.015
	5 s
	1
	0.01 s
	1
	0.00208 s
	1
	0.00016 s
	4.43
	0.0001 s
	1.3
	0.0027 H