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11.1.3 SIMULINK EXPERIMENT 3
Figure 11.17, describes the motion of the TCP when simulating with the parameters, P1, P2, P3, P4.
The 3D plot above describes the TCP motion used at the real robot and in the simulink model
to compare the different measured signals such as arm angles, arm velocities, motor currents
and the TCP motion calculated from the measured arm angles with the forward kinematics. The
TCP motion start at the point (0,0,-0.9)m and makes a pick and place movement from the start
point to the point (0.34,0.34,-0.91)m and back again to the starting point, to be able to continue
the same pick and place movement in another direction. Because the oscilloscope in EPAS has
a limited number of sample only one pick and place direction is used in this experiment.
Figure 11.18, shows the motion of the three arm angles for the Delta-3 robot with the TCP motion as in Figure 9.9.
The measured actual arm angles in the simulink model are compared with the measured actual
arm angles from EPAS for the real robot in Figure 11.18. The units at the y-axis are in degrees
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