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Figure 11.32 and Figure 11.33 above shows the three arm angle trajectories used as reference in
the experiment and the TCP trajectory for the three components, (x,y,z). The left plot (Figure
11.32) shows the three arm angle positions in degrees over the time in seconds. The right plot
(Figure 11.33) shows the x, y and z components of the position of the TCP in the world
coordinate frame, see Figure 4.1.
Figure 11.34, the blue line shows the velocity calculated
with the Jacobian matrix, and the red line shows the
reference velocity from EPAS.
Figure 11.35, shows deviation between calculated and
reference velocity. Where the calculated is computed with
the Jacobian.
Figure 11.34 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 11.35 shows the percentage
deviation between EPAS reference value and with the Jacobian calculated value.
Figure 11.36, the blue line shows the calculated acceleration and the red
line shows the reference acceleration from EPAS.
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Public Report ELAU GmbH, Marktheidenfeld
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