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Figure 11.13, shows the acceleration for the three arm angles.<br />
In the acceleration plot above are the three measured upper arm angles accelerations from the<br />
simulink model compared to the reference upper arm angles accelerations value in EPAS. This<br />
is because only the reference value for the arm acceleration can be measured in EPAS and not<br />
the actual value. The plot shows still that the mean value for three upper arm angle<br />
accelerations of the Delta-3 robot in the simulink model follows the measured reference<br />
acceleration value in EPAS. The arm angle accelerations are shown in degrees per square<br />
seconds over the time in second.<br />
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Public Report ELAU GmbH, Marktheidenfeld<br />
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