base ok
Follows its prediction.
200 samples over the first 19.9 s of each run.
Position (rad)
observed solid, predicted dotted.
Current (A)
observed solid, predicted dotted.
Winding (°C)
observed solid, predicted dotted.
Robotics / Digital twin / Check against prediction
Digital twin · prediction check
Held load against Held load
Observed run
Prediction
oksim
Every compared joint follows its prediction.
Both runs are simulations: the observed run stands in for a real joint until a device posts one with source device:<id>.
- Observed
- Printed arm, stand test ok
- Prediction
- Printed arm, stand test ok
- Rules
- command within 0.01 rad rms; position watch 0.02 rad rms, fault 0.1 rad max; current watch 25%; winding watch 5 °C, fault 15 °C
Joints
| Joint | Status | Command apart | Position off (rms) | Position off (max) | Current off | Winding Δ | Health |
|---|---|---|---|---|---|---|---|
| base sim | compared | 0.0000 rad | 0.0000 rad | 0.0000 rad | 0% (0.000 A) | +0.0 °C | ok |
| shoulder sim | compared | 0.0000 rad | 0.0000 rad | 0.0000 rad | 0% (0.000 A) | +0.0 °C | ok |
| elbow sim | compared | 0.0000 rad | 0.0000 rad | 0.0000 rad | 0% (0.000 A) | +0.0 °C | ok |
| wrist sim | compared | 0.0000 rad | 0.0000 rad | 0.0000 rad | 0% (0.000 A) | +0.0 °C | ok |
shoulder ok
Follows its prediction.
200 samples over the first 19.9 s of each run.
Position (rad)
observed solid, predicted dotted.
Current (A)
observed solid, predicted dotted.
Winding (°C)
observed solid, predicted dotted.
elbow ok
Follows its prediction.
200 samples over the first 19.9 s of each run.
Position (rad)
observed solid, predicted dotted.
Current (A)
observed solid, predicted dotted.
Winding (°C)
observed solid, predicted dotted.
wrist ok
Follows its prediction.
200 samples over the first 19.9 s of each run.
Position (rad)
observed solid, predicted dotted.
Current (A)
observed solid, predicted dotted.
Winding (°C)
observed solid, predicted dotted.