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Figure 11.31, the blue line shows the calculated acceleration and the red
line shows the reference acceleration from EPAS.
The joint acceleration for the third joint at the Delta-3 robot is shown in Figure 11.31. The blue
line represents the calculated joint acceleration with the Jacobian matrix compared with the red
line which is the reference acceleration from EPAS. One can see that joint 2 and 3 has the same
motion in Figure 11.25 and this is also seen in the arm acceleration graphs for joint 2 and 3
where the joint acceleration is the same.
11.2.2 JACOBIAN EXPERIMENT 2
Figure 11.32, shows the three arm angles used to calculate
velocity and acceleration with the Jacobian.
Figure 11.33, shows the TCP position used to calculate the
velocity and acceleration with the Jacobian matrix.
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Public Report ELAU GmbH, Marktheidenfeld
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