{'fraction_non_alphanumeric': 0.014992503748125937, 'fraction_numerical': 0.0014992503748125937, 'mean_word_length': 5.747474747474747, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
High Efficient Dynamics Calculation Approach for Computed-Force Control of Robots with Parallel Structures

This paper presents a compact and complete approach for realizing high performant control of fully parallel manipulators with a computed-force control scheme (CFC). The proposed method of dynamics computation is based on the principal of virtual power and allows real-time implementation without falling back on inaccurate model simplifications. The efficiency and performance is demonstrated on a 6-dof complex parallel manipulator within commercial control hardware setup. Crucial points for the enhancement of tracking performance are discussed in details.