Hot soak against Reach and hold

Observed run

Prediction

invalidsim

Not checked

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.

The observed run was at 60 C ambient and the prediction at 25 C.

The runs last 120 s and 20 s; each joint is compared over the time both cover.

The observed scenario is "min-jerk reach and hold, payload at the tool, 60 C enclosure" and the prediction's is "min-jerk reach and hold".

Observed: Printed arm, stand test watch
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

Joint	Status	Command apart	Position off (rms)	Position off (max)	Current off	Winding Δ	Health
base sim	not comparable	0.1474 rad	0.1474 rad	0.7839 rad	141% (0.263 A)	+35.1 °C	—
shoulder sim	not comparable	0.1566 rad	0.1565 rad	0.8335 rad	104% (0.924 A)	+41.3 °C	—
elbow sim	not comparable	0.3131 rad	0.3134 rad	1.6688 rad	210% (0.580 A)	+44.5 °C	—
wrist sim	not comparable	0.1566 rad	0.1567 rad	0.8346 rad	266% (0.216 A)	+36.4 °C	—

commanded positions are 0.147 rad rms apart, so the runs did not take the same command

commanded positions are 0.157 rad rms apart, so the runs did not take the same command

commanded positions are 0.313 rad rms apart, so the runs did not take the same command

commanded positions are 0.157 rad rms apart, so the runs did not take the same command