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In Figure 11.36 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. Here one can see that the
deviation is larger between the calculated acceleration and the reference acceleration for joint 1
before and after where there is a larger percentage deviation of the calculated velocity.
Figure 11.37, the blue line shows the calculated acceleration and the red
line shows the reference acceleration from EPAS.
In Figure 11.37 the blue line represents the calculated joint acceleration for arm 2 of the Delta-
3 robot and the red line describes the reference acceleration in EPAS. If one look at the joint
velocity of joint 2 there is a smaller percentage deviation (Figure 11.35) between the calculated
and the reference value than for joint 1. This is also shown in the acceleration graph for joint 2
where the calculated value match better with the reference value than for joint 1.
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Public Report ELAU GmbH, Marktheidenfeld
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