base watch
current is 136% off the prediction (0.252 A rms)
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 Reach and hold
Observed run
Prediction
watchsim
- base: current is 136% off the prediction (0.252 A rms)
- shoulder: current is 102% off the prediction (0.912 A rms)
- shoulder: winding peaks 5.4 C above the prediction
- elbow: current is 185% off the prediction (0.536 A rms)
- elbow: winding peaks 7.8 C above the prediction
- wrist: current is 250% off the prediction (0.226 A rms)
Both runs are simulations: the observed run stands in for a real joint until a device posts one with source device:<id>.
The observed run carries 0.3 kg on tool; the prediction carries nothing held.
- 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 | 0.0013 rad | 0.0090 rad | 136% (0.252 A) | +0.1 °C | watch |
| shoulder sim | compared | 0.0000 rad | 0.0012 rad | 0.0110 rad | 102% (0.912 A) | +5.4 °C | watch |
| elbow sim | compared | 0.0000 rad | 0.0015 rad | 0.0168 rad | 185% (0.536 A) | +7.8 °C | watch |
| wrist sim | compared | 0.0000 rad | 0.0010 rad | 0.0108 rad | 250% (0.226 A) | +1.5 °C | watch |
shoulder watch
current is 102% off the prediction (0.912 A rms); winding peaks 5.4 C above the 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 watch
current is 185% off the prediction (0.536 A rms); winding peaks 7.8 C above the 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 watch
current is 250% off the prediction (0.226 A rms)
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.