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As in the Simulink experiment 1 and 2, Figure 11.21 shows the three measured upper arm
actual angles accelerations from the simulink model compared to the reference upper arm
angles accelerations value in EPAS. Also for this experiment one can see that the mean value
of the three upper arm angle accelerations for the Delta-3 robot in the simulink model follows
the measured reference acceleration value in EPAS. The arm angle accelerations are shown in
degrees per square seconds over the time in second.
Figure 11.22, shows the current Ieff for the three motors.
In Figure 11.22 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 11.23, shows the TCP motion in x, y and z
components of the Delta-3 robots TCP position.
Figure 11.24, 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.
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Public Report ELAU GmbH, Marktheidenfeld
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