Research Article
Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control
Table 2
Output torque peak table (rounded, unit: Nm).
| Control mode | Branch one | Branch two | Branch three | Branch four | Branch five |
| PID control | 485 | 2830 | 3891 | 3590 | 1381 | Synchronous control | 440 | 2516 | 3463 | 3265 | 1207 |
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