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measured actual value from the real robot. The units at the y-axis are mm and the x-axis units<br />
are in seconds.<br />
Figure 11.8 shows the two norm of the deviation between the measured actual TCP position<br />
and the reference TCP position over the time in seconds. The blue line shows the TCP norm<br />
error for the simulink model and the red line are for the real robot.<br />
In Figure 11.7 it seems that the real robot will have a larger norm error than the simulink model<br />
because the real robot has a larger deviation from the real reference value in y direction which<br />
is zero. What makes that the real robot has a smaller norm error than the simulink model is that<br />
in x and z direction the simulink model has a larger deviation from its reference value than the<br />
real robot has. Therefore when one look at the right plot one can see that the simulink model<br />
has a larger norm error than the real robot. The deviation between the real robots norm error<br />
and the simulink models norm error can be explained by some dynamics missing in the<br />
simulink model.<br />
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Public Report ELAU GmbH, Marktheidenfeld<br />
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