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               ties of the controller, and the results show that the proposed PD-ILC controller has good overall performance.
               The developed controller can effectively work with acceptable motion errors and computation burden from
               the perspective of industrial engineering, which is applicable to other high-speed parallel robots of this family.
               In the future, the control variables will be optimized for performance improvement.



               DECLARATIONS

               Authors’ contributions
               Conceptualization, Methodology, Software, Writing, & editing: Li Q
               Software, Data curation: Liu E
               Conceptualization, Review: Cui C
               Conceptualization, Methodology, Review & editing, Proofreading: Wu G
               All the authors approved the submitted manuscript.

               Availability of data and materials
               Not applicable.


               Financial support and sponsorship
               This work was supported by Natural Science Foundation of Liaoning Province (Grant No. 20180520028).

               Conflicts of interest
               The author declared that there are no conflicts of interest.


               Ethical approval and consent to participate
               Not applicable.

               Consent for publication
               Not applicable.


               Copyright
               © The Author(s) 2022.



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