Figure 7From: Compound Impedance Control of a Hydraulic Driven Parallel 3UPS/S ManipulatorCompound impedance control of parallel mechanisms. PD: Proportional differential, FKM: Forward kinematics model, KIM: Inverse kinematics model, KIM−1: Dynamic mapping matrix, HSS: Hydraulic Servo System, SHIC: Single Channel Impedance ControlBack to article page