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Figure 11.23 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 measured actual
value from the real robot. The y-axis units are the lengths in mm and the x-axis units are the
time in seconds.
Figure 11.24 shows the two norm of the deviation between the measured actual TCP position
and the reference TCP position over the time in seconds. The blue line shows the TCP norm
error for the simulink model and the red line are for the real robot.
11.1.4 DISCUSSION
In experiment 1-3 the trajectory graphs for the TCP position and the arm angles positions
shows that the model in simulink follows the desired trajectories well. But when comparing the
norm of the TCP tracking error for the Simulink model and the real robot, one can see that
there is a large deviation, see Figure 11.8, Figure 11.16 and Figure 11.24. This deviation is
caused because there are dynamics missing for the robot model in Simulink. This can also be
seen in the graphs for the current where the Simulink models actual value has a large deviation
from the actual value measured from the real robot, see Figure 11.6, Figure 11.14 and Figure
11.22.
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Public Report ELAU GmbH, Marktheidenfeld
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