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The measured arm angles in the simulink model are compared with the measured arm angles
from EPAS for the real robot in Figure 11.10. 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 11.11, shows the velocity for the three arm angles.
Compares Simulink model with real robot controlled with
EPAS.
Figure 11.12, shows a zoom of Figure 11.11 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
line describes the measured actual value in the simulink model and the red line the measured
actual value from the real robot. One can see in the right plot that the measured velocity from
the simulink model and the real robot match well. But as in experiment 1the right plot which
shows a zoom from the left plot for the time interval 0.95s to 1.1s, one can see that the simulink
model follows the real robots measured value well except from the small amplitude variation
which the real robot has.
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Public Report ELAU GmbH, Marktheidenfeld
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