base not_comparable
commanded positions are 0.132 rad rms apart, so the runs did not take the same command
Robotics / Digital twin / Check against prediction
Digital twin · prediction check
Overload against Hot soak
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 carries 3 kg on tool; the prediction carries 0.3 kg on tool.
The observed run was at 25 C ambient and the prediction at 60 C.
The runs last 20 s and 120 s; each joint is compared over the time both cover.
The observed scenario is "min-jerk reach and hold, payload past the shoulder's peak torque" and the prediction's is "min-jerk reach and hold, payload at the tool, 60 C enclosure".
- Observed
- Printed arm, stand test fault
- Prediction
- Printed arm, stand test watch
- 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 | 0.1317 rad | 0.1400 rad | 0.7966 rad | 694% (1.125 A) | +3.5 °C | — |
| shoulder sim | not comparable | 0.1399 rad | 0.6629 rad | 0.7021 rad | 191% (3.439 A) | +22.5 °C | — |
| elbow sim | not comparable | 0.2799 rad | 0.5068 rad | 1.6354 rad | 152% (1.263 A) | +14.3 °C | — |
| wrist sim | not comparable | 0.1399 rad | 0.1518 rad | 0.8502 rad | 392% (0.834 A) | -4.2 °C | — |
shoulder not_comparable
commanded positions are 0.140 rad rms apart, so the runs did not take the same command
elbow not_comparable
commanded positions are 0.280 rad rms apart, so the runs did not take the same command
wrist not_comparable
commanded positions are 0.140 rad rms apart, so the runs did not take the same command