UR5 collaborative robot static anti-gravity torque versus joint angle data
Description
Collaborative Robot Static Anti-Gravity Data
During the real industrial robot movement, robot joint angles, joint angular velocities, and joint motor currents are recorded via ROS-Melodic software which handles the communication (@~125Hz). Static data is then extracted by finding the sample points at which the robots angular velocities are equal to zero. Data is then formatted in Comma Separated Values (CSV) formatted data. This data can be exploited in machine learning approaches for static modelling of the industrial robot behavior. This data may be utilized research investigating static industrial robot model including its gravity terms and static friction terms.
Data is composed of
joint angle data: Positions_reduced.csv
joint angular velocities: Velocities_reduced.csv
joint motor currents: Efforts_reduced.csv
External URI
Subjects
- Robotics
- Antigravity
- Mathematical models
- Neural networks (Computer science)
- Robots, Industrial
- Robotics, anti-gravity, static data, Estimation, friction, mathematical model, modeling, neural network model
- Engineering::Mechanical engineering::Mechanisms & machines
- T Technology::TJ Mechanical engineering and machinery::TJ170 Mechanics applied to machinery. Dynamics
- Q Science::QC Physics
Divisions
- University of Nottingham, UK Campus
Research institutes and centres
- University of Nottingham, UK Campus
Deposit date
2023-03-13Data type
CSV data setContributors
- Ahmadiehkhanesar, Mojtaba
Funders
- Engineering & Physical Sciences Research Council
Grant number
- EP/T023805/1
Collection dates
- 20/01/2022
Coverage
- University of Nottingham, Nottingham, UK
Data collection method
Data collected through ROS software using the sampling frequency of 125Hz via LAN connection between the UR5 robot and a PC running a Linux OSResource languages
- en