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Figure 11.27, the blue line shows the velocity calculated
with the Jacobian matrix, and the red line shows the
reference velocity from EPAS.
Figure 11.28, shows deviation between calculated and
reference velocity. Where the calculated is computed with
the Jacobian.
Figure 11.27 shows the three different arm joint velocities in the unit degree/s over the time in
seconds. To make it easier to see how big the deviation is between the EPAS reference value of
the velocity and with Jacobian matrix calculated velocity Figure 11.28 shows the percentage
deviation between EPAS reference value and with the Jacobian calculated value.
Figure 11.29, the blue line shows the calculated acceleration and the red
line shows the reference acceleration from EPAS.
In Figure 11.29 the blue line represents the calculated joint acceleration for arm 1 of the Delta-
3 robot and the red line describes the reference acceleration in EPAS. If one looks at the joint
velocity of joint 1 there is a smaller percentage deviation (Figure 11.28) between the calculated
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Public Report ELAU GmbH, Marktheidenfeld
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