INDRBT / Reading room

Robot

Retained digital evidence · config/robot.yaml · SHA-256 fde183861589ceaa492879da6e6114c80fdd659dcff6adcf46fc734b3a50934f

This readable record comes from the engineering project. Its assumptions, sampling and rule scope remain part of the result.

name: INDRBT
units: {length: m, angle: rad, mass: kg, time: s, torque: N*m}
geometry:
  base_diameter: 0.220
  shoulder_height: 0.190
  upper_arm_length: 0.320
  forearm_length: 0.280
  wrist_roll_length: 0.045
  wrist_pitch_length: 0.035
  tool_length: 0.110
  tool_flange_diameter: 0.060
  upper_arm_width: 0.080
  upper_arm_depth: 0.100
  forearm_width: 0.065
  forearm_depth: 0.080
  wall_thickness: 0.004
joint_limits_deg:
  - [-170, 170]
  - [-120, 75]
  - [-135, 135]
  - [-180, 180]
  - [-110, 110]
  - [-180, 180]
velocity_limits_deg_s: [90, 60, 75, 120, 120, 150]
acceleration_limits_deg_s2: [180, 120, 150, 240, 240, 300]
home_deg: [0, -50, 90, 0, -40, 0]
poses_deg:
  home: [0, -50, 90, 0, -40, 0]
  extended: [0, 0, 0, 0, 0, 0]
  folded: [0, -110, 130, 0, -20, 0]
  vertical: [0, -90, 0, 0, 0, 0]
  pick: [-25, -45, 95, 0, 40, 0]
  place: [25, -45, 95, 0, 40, 0]
mass:
  status: ASSUMED
  base: 8.5
  turret: 4.2
  upper_arm: 5.5
  forearm: 2.7
  wrist_roll: 0.9
  wrist_pitch: 0.65
  flange_gripper: 1.2
  payload: 4.0
materials:
  aluminum: {density: 2700, young_modulus: 69000000000, yield_strength: 240000000}
  steel: {density: 7850, young_modulus: 200000000000, yield_strength: 250000000}
  polymer: {density: 1200}
gripper:
  max_opening: 0.090
  finger_length: 0.060
  finger_width: 0.018
  finger_thickness: 0.010
  screw_lead: 0.004
  screw_efficiency: 0.35
  total_normal_force_target: 200.0
  friction_coefficient: 0.5
  motor_torque: 0.45
  grip_safety_factor: 2.0
actuators:
  gear_ratios: [80, 120, 100, 60, 60, 50]
  efficiencies: [0.75, 0.70, 0.72, 0.75, 0.75, 0.78]
  safety_factor: 2.0
control:
  inertia: [1.2, 1.8, 0.8, 0.08, 0.05, 0.03]
  viscous_damping: [2.0, 3.0, 1.5, 0.15, 0.10, 0.08]
  kp: [160, 230, 120, 12, 8, 6]
  ki: [15, 20, 10, 1, 0.8, 0.5]
  kd: [26, 36, 18, 1.8, 1.1, 0.8]
  torque_limits: [70, 180, 90, 18, 18, 8]
  dt: 0.002
targets:
  repeatability_m: 0.0001
  payload_kg: 4.0
  gravity: 9.80665
  ik_position_tolerance_m: 0.00001
  ik_orientation_tolerance_rad: 0.0001
demo:
  approach_clearance: 0.070
  gripper_dwell_s: 0.5
  object_width: 0.028
  workspace_samples: 6000
  workspace_seed: 260105
  workspace_voxel_pitch: 0.025
  trajectory_duration_s: 4.0
  control_step_duration_s: 5.0
  control_step_deg: [5, 5, -5, 5, 5, 5]