Download full document - Automatic Control

Figure 11.14, shows the current Ieff for the three motors.
In Figure 11.14 are the three currents shown which acts as input to each of the three motors.
The blue line represents the measured current Ieff in the Simulink model, see Figure 8.4 and the
red line represents the measured current from each real motor sampled in EPAS.
Figure 11.15, shows the TCP motion in x,y and z components
of the Delta-3 robots TCP position.
Figure 11.16, shows the norm of the TCP error. The
blue line is Simulink models error and red line is TCP
error from real robot controlled with EPAS.
Figure 11.15 above shows the x, y and z components of the TCP position. The blue line
represents the measured actual value in the simulink model and the red line represents the
______________________________________________________________________________
Public Report ELAU GmbH, Marktheidenfeld
49