base not_comparable
commanded positions are 0.147 rad rms apart, so the runs did not take the same command
Robotics / Digital twin / Check against prediction
Digital twin · prediction check
Hot soak against Held load
Observed run
Prediction
invalidsim
Not checked
- no joint appears in both runs with the same command, so nothing was compared
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 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
Joints
| Joint | Status | Command apart | Position off (rms) | Position off (max) | Current off | Winding Δ | Health |
|---|---|---|---|---|---|---|---|
| base sim | not comparable | 0.1474 rad | 0.1471 rad | 0.7831 rad | 125% (0.240 A) | +35.0 °C | — |
| shoulder sim | not comparable | 0.1566 rad | 0.1568 rad | 0.8353 rad | 10% (0.184 A) | +35.9 °C | — |
| elbow sim | not comparable | 0.3131 rad | 0.3133 rad | 1.6678 rad | 14% (0.110 A) | +36.7 °C | — |
| wrist sim | not comparable | 0.1566 rad | 0.1567 rad | 0.8346 rad | 39% (0.096 A) | +34.9 °C | — |
shoulder not_comparable
commanded positions are 0.157 rad rms apart, so the runs did not take the same command
elbow not_comparable
commanded positions are 0.313 rad rms apart, so the runs did not take the same command
wrist not_comparable
commanded positions are 0.157 rad rms apart, so the runs did not take the same command