INDRBT / Reading room
Project KPIs
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.
Adapted for browser reading from the project’s illustrated documentation. Numeric results and engineering scope are unchanged. Reproduction notes are optional; the robot and board viewers run from the navigation above.
On this page
All figures are digital. Reconstruction error is an algorithm residual, not physical accuracy or repeatability.
| Metric | Value | Evidence class | Source |
|---|---|---|---|
| Revolute DOF | 6 | VERIFIED DIGITALLY | Transform model and tests |
| Nominal shoulder-centred reach | 790 mm | CALCULATED | Geometry/FK |
| Nominal TCP height at straight-up pose | 980 mm | CALCULATED | Geometry/FK; agrees with vertical CAD assembly |
| Payload | 4.0 kg | TARGET | Design load assumption |
| Repeatability | ±0.1 mm | TARGET — NOT VERIFIED | No physical measurement/no compliance model |
| Manipulator mass | 23.65 kg | ASSUMED | Lumped load model |
| Sum of CAD envelope material volumes × density | 19.908 kg | CALCULATED | Exterior geometry, overlaps/placeholder internals caveat |
| Maximum FK closed-form discrepancy | 2.544e-16 m | VERIFIED DIGITALLY | 60 independent planar trials |
| Maximum FK–IK–FK position error | 2.700e-11 m | VERIFIED DIGITALLY | 60 perturbed-seed trials |
| Maximum IK orientation error | 6.504e-12 rad | VERIFIED DIGITALLY | SO(3) residual |
| Maximum Jacobian finite-difference discrepancy | 2.517e-10 | VERIFIED DIGITALLY | World linear/angular Jacobian; units by block |
| Workspace samples | 6000 | SIMULATED | Seed 260105 |
| Convex-hull envelope volume | 1.902506 m³ | SIMULATED — ENVELOPE ONLY | Fills inaccessible holes; not reachable volume |
| Pick/place duration | 9.24398 s | SIMULATED | 1041 samples |
| TCP path length | 1.32360 m | SIMULATED | Sum of sampled segments |
| Peak task speed / assumed limit | 0.951694 | VERIFIED DIGITALLY AT SAMPLES | Motion report |
| Peak task acceleration / assumed limit | 0.997971 | VERIFIED DIGITALLY AT SAMPLES | Motion report |
| PID joint tracking overall RMSE | 0.006383 rad | SIMULATED | Independent inertia/damping plants |
| Shoulder static holding torque at full extension, 4.0 kg payload | 70.165 N·m | CALCULATED | Assumed masses/COM |
| Elbow static holding torque at full extension, 4.0 kg payload | 31.880 N·m | CALCULATED | Assumed masses/COM |
| Serial TCP beam deflection estimate | 0.10408 mm | CALCULATED | Idealized closed-section cantilevers only |
| Gripper opening / each jaw travel | 90 / 45 mm | VERIFIED DIGITALLY / CALCULATED | CAD gap and model |
| Gripper total normal force | 200 N | TARGET | 100 N per jaw |
| Screw torque at force target | 0.363783 N·m | CALCULATED | Assumed efficiency 0.35 |
| Native schematic ERC violations | 0 | VERIFIED DIGITALLY | All report severities under enabled KiCad default rules; see electronics scope |
| Native PCB DRC errors / warnings / unconnected | 0 / 0 / 0 | VERIFIED DIGITALLY | Executed KiCad DRC and schematic-board checks |
| PCB footprints / copper layers | 48 / 4 | VERIFIED DIGITALLY | Native board and manufacturing exports |
| Automated tests | 91 tests; 0 failures; 0 errors | VERIFIED DIGITALLY | results/validation/pytest.xml |
PCB results are retained in PCB verification. Continuous collision freedom, hardware performance and functional safety are outside the verified scope.