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