Download full document - Automatic Control

More documents

Recommendations

Info

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. ______________________________________________________________________________ Public Report ELAU GmbH, Marktheidenfeld 60
Figure 11.38, 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 11.38. The blue line represents the calculated joint acceleration with the Jacobian matrix compared with the red line which is the reference acceleration from EPAS. The percentage deviation of the joint 3 velocity is small which also can be seen in the graph above where the deviation between the calculated and the reference acceleration is smaller. ______________________________________________________________________________ Public Report ELAU GmbH, Marktheidenfeld 61
Page 1:
ISSN 0280-5316 ISRN LUTFD2/TFRT--58
Page 5:
Acknowledgements This Master thesis
Page 8 and 9:
7 Control approach - ELAU GmbH ....
Page 10 and 11:
α1 frame rotation angle for arm at
Page 12 and 13:
2 BACKGROUND 2.1 ROBOTICS The word
Page 14 and 15:
2.2.2 SOFTWARE - ELAU GMBH EPAS-4 i
Page 16 and 17: 3 KINEMATICS - SERIAL ROBOT In the
Page 18 and 19: 3.2 INVERSE KINEMATICS When the for
Page 20 and 21: 4 KINEMATICS & KINETICS - DELTA-3 R
Page 22 and 23: 4.3 Forward Kinematics The forward
Page 24 and 25: Figure 4.5, inverse kinematics tran
Page 26 and 27: where & ⎡x& n ⎤ ⎡− lA sin(
Page 28 and 29: 4.7 ACTUATOR DYNAMICS In most exist
Page 30 and 31: The inertia contribution of each up
Page 32 and 33: According to d’Alembert’s princ
Page 34 and 35: 5 TRAJECTORY A trajectory is a path
Page 36 and 37: 6 TRAJECTORY - ELAU GMBH C600 is th
Page 38 and 39: 6.2 CIRCULAR INTERPOLATION In the E
Page 40 and 41: 7.1 MC-4 DRIVE The MC-4 drive is a
Page 42 and 43: Figure 8.2, Simulink model with mot
Page 44 and 45: 9 PARAMETER ESTIMATION To simulate
Page 46 and 47: 10 EXPERIMENTS For the experiments
Page 48 and 49: Figure 11.2, shows the motion of th
Page 50 and 51: Figure 11.6, shows the current I ef
Page 52 and 53: 11.1.2 SIMULINK EXPERIMENT 2 Figure
Page 54 and 55: Figure 11.13, shows the acceleratio
Page 56 and 57: measured actual value from the real
Page 58 and 59: and are shown over the time in seco
Page 60 and 61: Figure 11.23 shows the x, y and z c
Page 62 and 63: Figure 11.27, the blue line shows t
Page 64 and 65: Figure 11.31, the blue line shows t
Page 68 and 69: 11.2.3 JACOBIAN EXPERIMENT 3 Figure
Page 70 and 71: In Figure 11.44 the blue line repre
Page 72 and 73: 12 CONCLUSIONS In section 11.1 one
show all

Download full document - Automatic Control

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?