INDRBT / Reading room
Requirement traceability
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
Results refer to executed digital evidence, not physical performance. The exact command report is validation reportSource file; numerical trials and CAD manifest retain details.
| Requirement | Result | Evidence and scope |
|---|---|---|
| MECH-001 | PASS | 54 valid BRep components; 6 assemblies, STEP reimport and actual mesh renders |
| MECH-002 | PASS | 790 mm nominal reach; independent FK and CAD match |
| MECH-003 | PASS for calculation / TARGET for payload | Static gravity and conceptual actuator envelope; no load rating |
| MECH-004 | PASS for digital range / TARGET for force | 90 mm maximum jaw opening; closure tests and gripper energy calculation |
| MECH-005 | PASS for concept | Volumes, material assumptions, covers and cable bores; no production tolerances |
| KIN-001 | PASS | SE(3), known poses, independent planar discrepancy 2.544e-16 m |
| KIN-002 | PASS for tested cases | 60 perturbed-seed FK–IK–FK trials, max position 2.700e-11 m; unreachable and malformed targets tested |
| KIN-003 | PASS | Finite-difference max discrepancy 2.517e-10 |
| KIN-004 | PASS | Configuration/planning tests and every task joint sample |
| CTRL-001 | PASS with interpolation caveat | Analytic cubic/quintic limits; linear interior only, unbounded instantaneous start/stop acceleration |
| CTRL-002 | PASS at samples | MOVE J and MOVE L reconstruction, branch continuity and sampled derivatives |
| CTRL-003 | PASS for model | PID response/tracking saturation and antiwindup; independent inertia/damping plant only |
| ELEC-001 | PASS for schematic concept | 44 components, 28 connected nets, 118 pin assignments and 22 topology checks |
| ELEC-002 | PASS for digital design | Native ERC: 0 violations under enabled default rules; routed PCB, actual DRC and schematic-board connectivity checks in PCB verification |
| SIM-001 | PASS for geometric sampling | 6000 seeded FK samples; hull/voxel limitations explicit |
| SIM-002 | PASS for ideal task | 9.24398 s, close/open events, home return; no contact dynamics |
| SIM-003 | PASS for required representative screening | Every component pair classified across representative CAD poses and 75 task samples, including 6126 exact BRep intersections; continuous swept collision proof is outside this evidence |
| VAL-001 | PASS | 91 tests; 0 failures; 0 errors; details in pytest.xml |
| VAL-002 | PASS | Single executed validation workflow and artifact consistency audit |
| DOC-001 | PASS | Setup, decisions, architecture, report, figures and portable commands |
| DOC-002 | PASS | Claims vocabulary and limitations audited throughout |
| RESEARCH-001 | PASS | Five actual numerical sweeps with data/plots |
| PERF-001 | NOT VERIFIED | ±0.1 mm repeatability remains TARGET |
Version 1.2.0: DIGITAL SCOPE COMPLETE within the documented digital engineering brief. See the scope audit. Physical repeatability remains a target as requested; numerical IK residuals do not establish it.