Robotics / Digital twin
Digital twin · cre8.robot.twin.v1
Check this run against its prediction
No joint is outside its limits.
tool at (0.08, 0, 0) m; the controller was not toldNot modelled: backlash, pwm_ripple, cogging, sensor_noise, iron_loss, gear_loss_heat
Manufacturing graph: make:robot-arm. Robotics.Make (POST /robotics/make) renders it.
Limits: thermal watch margin 15 °C, tracking watch 0.02 rad (rms), tracking fault 0.1 rad (max), saturation watch 0.05.
| Joint | Source | Actuator | Make ref | Peak current | Peak torque | Thermal margin | RMS error | Flags | Health |
|---|---|---|---|---|---|---|---|---|---|
| base | sim | servo-2nm | make:robot-arm/servo-base | 0.861 / 1.72 A | 0.95 / 1.9 N·m | 73.7 °C | 0.0020 rad | none | ok |
| shoulder | sim | servo-10nm | make:robot-arm/servo-shoulder | 2.583 / 6.06 A | 4.52 / 10.6 N·m | 67.9 °C | 0.0014 rad | none | ok |
| elbow | sim | servo-4nm | make:robot-arm/servo-elbow | 1.197 / 2.34 A | 2.09 / 4.1 N·m | 66.1 °C | 0.0024 rad | tracking | ok |
| wrist | sim | servo-2nm | make:robot-arm/servo-wrist | 0.514 / 1.72 A | 0.57 / 1.9 N·m | 73.2 °C | 0.0011 rad | none | ok |
Parity: 4 of 4 joints carry a stated summary and health; each agrees with the health recomputed from its trace.
200 samples over 19.9 s. Summary taken from the document.
q solid, q_ref dashed. rms error 0.0020 rad, max 0.0138 rad.
peak 0.861 A of a 1.72 A limit (dashed); rms 0.207 A.
peak 26.3 °C against a 100 °C limit (dashed); margin 73.7 °C.
200 samples over 19.9 s. Summary taken from the document.
q solid, q_ref dashed. rms error 0.0014 rad, max 0.0085 rad.
peak 2.583 A of a 6.06 A limit (dashed); rms 1.804 A.
peak 32.1 °C against a 100 °C limit (dashed); margin 67.9 °C.
200 samples over 19.9 s. Summary taken from the document.
q solid, q_ref dashed. rms error 0.0024 rad, max 0.0250 rad.
peak 1.197 A of a 2.34 A limit (dashed); rms 0.812 A.
peak 33.9 °C against a 100 °C limit (dashed); margin 66.1 °C.
200 samples over 19.9 s. Summary taken from the document.
q solid, q_ref dashed. rms error 0.0011 rad, max 0.0086 rad.
peak 0.514 A of a 1.72 A limit (dashed); rms 0.241 A.
peak 26.8 °C against a 100 °C limit (dashed); margin 73.2 °C.