Explore

Testing

Requirement

Within torque limits when grasping a 1kg payload at full perpendicular reach both static and at maximum acceleration.

Place 10cm diameter 1kg sphere in gripper

Execute motion that covers extremity of torque

Measure torque readings on actuators and ensure they are below spec

Repeat for endurance for 50 hours

3D print the sphere

Fill with sand until it is 1kg

Mount the arm on a secured pillar to maximize it’s free workspace

Terminal interface to

Begin the experiment

Configure singular or endurance run

Open gripper

Close gripper

Initiate motion

Save report to file

Generate motion that explores torque extremities by combing static torque loads with maximum acceleration

Can use an optimal planning appraoch where torque is both constrained but maximized via the cost function

Execute motion writing telemetry values to a table-like data strucure

Set soft and hard thresholds

Soft thresholds are a failure but do not stop the experiement

Hard thresholds stop the experiement

This lets us explore more and find multiple points of failure

Write telemetry data to CSV, write short text file with aggregations and summaries of

Thresholds exceded

Corresponding trajectory segments

Distribution and statistical summaries of positions, velocities accelerations, torques

Total time in motion

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