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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 11.19, shows the velocity for the three arm angles.
Compares Simulink model with real robot controlled with
EPAS.
Figure 11.20, 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. The right plot shows a zoom of the arm angle
velocity for the time interval 1.06s to 1.19s. The EPAS actual signal doesn’t have a large
amplitude variation so this time the simulink models actual value follows the EPAS actual
value better than in experiment 1 and 2.
Figure 11.21, shows the acceleration for the three arm angles.
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Public Report ELAU GmbH, Marktheidenfeld
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