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Acknowledgements This Master thesis was carried out between the time August 2008 and February 2009 at ELAU GmbH in Marktheidenfeld, Germany. I would like to take the opportunity to thank all the colleagues at ELAU GmbH who gladly helped out with questions I had. Thanks to Jens, Christian, Mario, Carsten and Markus who helped me with my project. I would like to thank Prof. Karl-Erik Årzén who made the contact with Dr. Wolfgang Reinelt at ELAU GmbH possible, Prof. Rolf Johansson my examinator at Lund University, Prof. Anders Robertsson my supervisor at Lund University. I would like to send my special thanks to my supervisor at the company Dr. Wolfgang Reinelt who helped me with my project. He also helped me to find an accommodation. Special thanks to Felix Böttcher who helped me with the measurements from the real Delta-3 robot. Special thanks to Reiner Volk who helped me with my project and introduced me to his choir. In the choir I got lots of new experience. Finally I also would like to send my special thanks to my parents, brothers, relatives and friends back home in Sweden who kept the contact with me during my stay in Germany. Thanks mom, dad, Hans and Camilla for your visit in Marktheidenfeld, it meant a lot to me. Marktheidenfeld, February 2009 iii
Page 1: ISSN 0280-5316 ISRN LUTFD2/TFRT--58
Page 7 and 8: TABLE OF CONTENTS Acknowledgments i
Page 9 and 10: 1 INTRODUCTION 1.1 MOTIVATION The c
Page 11 and 12: Fs static friction in motor GRin ge
Page 13 and 14: 2.2 ELAU GMBH 2.2.1 PACDRIVE AUTOMA
Page 15 and 16: 2.2.4 DELTA-3 ROBOT - ELAU GMBH ELA
Page 17 and 18: Usually, the manipulator will be ab
Page 19 and 20: −1⎛ y ⎞ θ1 = tan ⎜ ⎟ −
Page 21 and 22: 4.2 GEOMETRIC PARAMETERS The refere
Page 23 and 24: To achieve a matrix that describes
Page 25 and 26: Then for each arm the angle is chos
Page 27 and 28: 4.6 ACCELERATION KINEMATICS The acc
Page 29 and 30: the force between the travelling pl
Page 31 and 32: 4.8.3 CALCULATION OF DYNAMIC MODEL
Page 33 and 34: where Fm is added and describes the
Page 35 and 36: & X d ( t) = a + 2a t + 3a t 1 2 Eq
Page 37 and 38: The virtual motions for x, y and z
Page 39 and 40: 7 CONTROL APPROACH - ELAU GMBH One
Page 41 and 42: 8 SIMULINK MODEL The simulink model
Page 43 and 44: Figure 8.3, AC motor model in Simul
Page 45 and 46: For explanation of the parameters i
Page 47 and 48: 11 RESULTS 11.1 SIMULINK MODEL COMP
Page 49 and 50: line describes the measured actual
Page 51 and 52: measured actual value from the real
Page 53 and 54: The measured arm angles in the simu
Page 55 and 56:
Figure 11.14, shows the current Ief
Page 57 and 58:
11.1.3 SIMULINK EXPERIMENT 3 Figure
Page 59 and 60:
As in the Simulink experiment 1 and
Page 61 and 62:
11.2 JACOBIAN MATRIX RESULTS IN EPA
Page 63 and 64:
and the reference value than for jo
Page 65 and 66:
Figure 11.32 and Figure 11.33 above
Page 67 and 68:
Figure 11.38, the blue line shows t
Page 69 and 70:
Figure 11.43, the blue line shows t
Page 71 and 72:
also have a small deviation from re
Page 73:
13 REFERENCES 1. Murray, Richard M.
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