INDRBT / Reading room

Numerical validation

Digital engineering model. Payload and repeatability are design targets. All ordinary guide reading, figures and PDFs work here. Links marked Source file lead to the public engineering repository.

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Retained digital evidence · results/validation/numerical_validation.json · SHA-256 4df122cec6b988a0fe7c4295cc3d9292a0f862450470ca2a0300cc24cb6bdf99

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

{
  "status": "VERIFIED DIGITALLY",
  "trials": 60,
  "seed": 1052026,
  "seeds": "Targets sampled within limits; seeds perturbed by Gaussian sigma .28 rad, not copied target joints",
  "ik_max_position_error_m": 2.700008801532618e-11,
  "ik_max_orientation_error_rad": 6.50370020913975e-12,
  "ik_max_matrix_error": 1.885938627488315e-11,
  "jacobian_max_abs_error": 2.51663800909796e-10,
  "independent_planar_fk_max_error_m": 2.5438405243138006e-16,
  "acceptance_limits": {
    "ik_max_position_error_m": 1e-05,
    "ik_max_orientation_error_rad": 0.0001,
    "ik_max_matrix_error": 0.0001,
    "jacobian_max_abs_error": 1e-06,
    "independent_planar_fk_max_error_m": 1e-10
  }
}