INDRBT / Reading room

Final theory review

Retained digital evidence · results/validation/final_theory_review.json · SHA-256 f6533feb7af9757b5961e97e6dbeb07008bf65b3988648e95149e950cfcfd367

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

{
  "status": "PASS",
  "scope": "Independent digital engineering theory/evidence review; no physical qualification or exhaustive continuous-motion certificate",
  "checks": {
    "units_and_parameters": {
      "status": "PASS",
      "scope": "Current authoritative SI configuration and degree-to-radian conversion"
    },
    "kinematics": {
      "status": "PASS",
      "seed": 202610051,
      "independent_fk_and_perturbed_ik_trials": 40,
      "max_fk_position_discrepancy_m": 3.4219371797089426e-16,
      "max_fk_rotation_element_discrepancy": 5.551115123125783e-16,
      "max_ik_position_error_m": 1.6460396263267862e-11,
      "max_ik_orientation_error_rad": 3.2680671661697834e-12,
      "max_jacobian_finite_difference_discrepancy": 2.828198786275493e-10,
      "shoulder_reach_m": 0.7900000000000001,
      "vertical_tcp_height_m": 0.9800000000000002,
      "outside_radial_bound_rejected": true,
      "scope": "Necessary radial bound, bounded local IK and geometric world Jacobian; no exhaustive reachability or collision proof"
    },
    "workspace": {
      "status": "PASS",
      "saved_samples_rechecked": 6000,
      "scope": "Stored sample envelope, hull, above-floor count and dimensionless singularity threshold; no reachable-volume certificate"
    },
    "recorded_task": {
      "status": "PASS",
      "fk_samples_recomputed": 1041,
      "duration_s": 9.243979567042027,
      "path_length_m": 1.323599790764895,
      "scope": "Stored FK/path/limits/events; finite-difference MOVE L limits remain sampled"
    },
    "quintic_analytic_limits": {
      "status": "PASS",
      "duration_s": 0.8782600579769633,
      "max_exact_speed_fraction": 0.5693074567819126,
      "max_exact_acceleration_fraction": 0.9980029960049941
    },
    "gravity_and_structure": {
      "status": "PASS",
      "gravity_gradient_trials": 12,
      "max_gravity_gradient_discrepancy_Nm": 7.105427357601002e-09,
      "gravity_bound_samples": 40,
      "independent_point_mass_inertia_bound_kg_m2": [
        4.490834687500001,
        4.490834687500001,
        1.3017946875000008,
        0.09401906250000004,
        0.09401906250000004,
        0.0
      ],
      "equivalent_sizing_inertia_kg_m2": [
        4.490834687500001,
        4.490834687500001,
        1.3017946875000008,
        0.09401906250000004,
        0.09401906250000004,
        0.03
      ],
      "sizing_inertia_correction": "Use max(educational control inertia, all-angle point-COM inertia bound), avoiding inertia below the same assumed load model; complete coupled dynamics remain excluded",
      "unloaded_finger_yield_ratio": "N/A (zero root stress), represented by JSON null",
      "serial_tcp_deflection_mm": 0.10407510103105926,
      "independent_virtual_work_deflection_mm": 0.10407510103105932,
      "forearm_rotation_contribution_mm": 0.015523199087904484,
      "correction": "Included forearm tip slope multiplied by rigid wrist/tool reach; earlier total omitted that term",
      "scope": "Extended-pose ideal beam/load models with assumed COMs and materials; no complete CAD stiffness, physical repeatability or load rating"
    },
    "gripper_work_and_friction": {
      "status": "PASS",
      "opening_m": 0.09,
      "travel_per_jaw_m": 0.045,
      "full_stroke_screw_revolutions": 11.25,
      "target_total_normal_force_N": 200.0,
      "required_motor_torque_Nm": 0.3637827270671894,
      "ideal_force_at_assumed_motor_torque_N": 247.40042147019622,
      "friction_limited_payload_kg_with_safety_factor": 5.0985810648896415,
      "model_evidence_class": "CALCULATED from assumed screw efficiency and friction; no contact simulation",
      "scope": "Both-jaw work balance and static ideal friction capacity; no contact/acceleration or motor validation"
    },
    "pid_model": {
      "status": "PASS",
      "unsaturated_linear_routh_hurwitz_condition": true,
      "default_discrete_unsaturated_state_spectral_radii": [
        0.9998093683413861,
        0.9998234863734055,
        0.9998310499283998,
        0.9998310499283997,
        0.999796961204562,
        0.999831279555964
      ],
      "first_feedback_command_agrees": true,
      "coarse_dt_s": 0.002,
      "fine_dt_s": 0.001,
      "max_step_position_difference_on_time_refinement_rad": 0.0003822071823264238,
      "scope": "Independent inertia/damping plant, conditional antiwindup and semi-implicit Euler; two-step-size comparison is a sensitivity check, not an error-bound proof"
    },
    "five_research_sweeps": {
      "status": "PASS",
      "RQ1_independent_FK_samples": 11000,
      "RQ2_payload_points": 7,
      "RQ3_durations": 3,
      "RQ4_repeated_controller_cases": 3,
      "RQ5_finger_lengths": 7,
      "scope": "Rechecked stored data with independent FK, lever/beam relations and replayed controller cases; numerical sensitivity, no physical experiments"
    }
  },
  "source_and_evidence_sha256": {
    "config/robot.yaml": "fde183861589ceaa492879da6e6114c80fdd659dcff6adcf46fc734b3a50934f",
    "src/robotarm/config.py": "0ef8974921d8cdfb4fbd822c5cd0d4002496cf0d5e3d136c848b75733ee3ae51",
    "src/robotarm/kinematics/model.py": "6a8d563ef7230e96ed517df15bd8ce59358417b1bbfe5653f7fdefff49e3e1f3",
    "src/robotarm/planning/trajectories.py": "986cd32bf077d8deba937a2cbbc77f266da6044c9a84b1e53d278e8e6d64642c",
    "src/robotarm/control/pid.py": "e379778f8ca9161877d42fb637baf1b4b26de0fb98118ef15de53c917178fa6c",
    "src/robotarm/gripper/model.py": "4152eb1ea321ec2a6ce6a8cca6941ec8c32afceecfcba61a1f15b0164409b160",
    "analysis/joint_torque_analysis.py": "8ccad6e712becb109c60d3729b73e4fdc1854cf54ea1f1982937704a3dcb21fa",
    "analysis/structural_analysis.py": "d276cbad4885a10c1850a1f3b2bbf646f40e3425c2b53835ac2c7dfc390779f8",
    "analysis/research_experiments.py": "cc19bd4668ee7467037ae61d28e7e977e894f6a9d8c15188f3d443f408db2c93",
    "tests/test_mechanical.py": "2fc6c83978b9940772180b4d6056e9e4cb3eed4a71acc1950c88aefed1c162c7",
    "scripts/review_theory.py": "a9d653050edc926727931d32449e874e99ed09af42223b6899d4c3ca8788acdc",
    "results/mechanical/structural.json": "e154259f6e835f55347676ebec23f77bf524f8b53a704c831320f36e41e6382d",
    "results/research/experiments.json": "4713ee57cd533a569dfd001d36d3a6cd52b22f3b673a023c3051d39ba6d4208a"
  },
  "primary_formula_references": [
    "https://www.ocw.mit.edu/courses/6-152j-micro-nano-processing-technology-fall-2005/4e555db93fbd2b7473f14100fbaadcc8_lecture13.pdf",
    "https://www.thomsonlinear.com/downloads/screws/Lead_Screws_cten.pdf"
  ]
}