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and the reference value than for joint 2 and 3. This is also shown in the acceleration graph for<br />
joint 2 where the calculated value match better with the reference value than for joint 2 and 3.<br />
Figure 11.30, the blue line shows the calculated acceleration and the red<br />
line shows the reference acceleration from EPAS.<br />
In Figure 11.30 the blue line represents the calculated joint acceleration for arm 2 of the Delta-<br />
3 robot and the red line describes the reference acceleration in EPAS.<br />
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Public Report ELAU GmbH, Marktheidenfeld<br />
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