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Figure 11.2, shows the motion of the three arm angles for the Delta-3 robot with the TCP motion as in Figure 11.1.
The measured arm angles in the simulink model are compared with the measured arm angles
from EPAS for the real robot in Figure 11.2. The units at the y-axis are in degrees and are
shown over the time in seconds. The blue line describes the measured actual value from the
three upper arms which are connected to the three motors. The red line describes the measured
actual value for the real robot sampled in EPAS.
Figure 11.3, shows the velocity for the three arm angles.
Compares Simulink model with real robot controlled with
EPAS.
Figure 11.4, shows a zoom of Figure 11.3 of the time
interval 0.95s to 1.1s.
The velocity graph above shows the angle velocity in degrees per seconds for the three upper
robot arms which are connected to the three motors at the base plate, see Figure 2.2. The blue
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Public Report ELAU GmbH, Marktheidenfeld
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