Show simple item record

UR5 collaborative robot static anti-gravity torque versus joint angle data

dc.contributor.authorAhmadiehkhanesar, Mojtaba
dc.contributor.otherAhmadiehkhanesar, Mojtaba
dc.coverage.spatialUniversity of Nottingham, Nottingham, UKen_UK
dc.date.accessioned2023-03-13T09:10:16Z
dc.date.available2023-03-13T09:10:16Z
dc.date.issued2023-03-13
dc.identifier.urihttps://rdmc.nottingham.ac.uk/handle/internal/10457
dc.description.abstractCollaborative 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.csven_UK
dc.language.isoenen_UK
dc.publisherThe University of Nottinghamen_UK
dc.rightsCC-BY*
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/*
dc.subject.lcshRoboticsen_UK
dc.subject.lcshAntigravityen_UK
dc.subject.lcshMathematical modelsen_UK
dc.subject.lcshNeural networks (Computer science)en_UK
dc.subject.lcshRobots, Industrialen_UK
dc.titleUR5 collaborative robot static anti-gravity torque versus joint angle dataen_UK
dc.identifier.doihttp://doi.org/10.17639/nott.7287
dc.subject.freeRobotics, anti-gravity, static data, Estimation, friction, mathematical model, modeling, neural network modelen_UK
dc.subject.jacsEngineering::Mechanical engineering::Mechanisms & machinesen_UK
dc.subject.lcT Technology::TJ Mechanical engineering and machinery::TJ170 Mechanics applied to machinery. Dynamicsen_UK
dc.subject.lcQ Science::QC Physicsen_UK
dc.date.collection20/01/2022en_UK
uon.divisionUniversity of Nottingham, UK Campusen_UK
uon.funder.controlledEngineering & Physical Sciences Research Councilen_UK
uon.datatypeCSV data seten_UK
uon.grantEP/T023805/1en_UK
uon.collectionmethodData collected through ROS software using the sampling frequency of 125Hz via LAN connection between the UR5 robot and a PC running a Linux OSen_UK
uon.institutes-centresUniversity of Nottingham, UK Campusen_UK


Files in this item

Thumbnail
Name:
Efforts_reduced.csv
Size:
995.4Kb
Format:
CSV file
Description:
The motor currents gathered from ...
View/Open
Thumbnail
Name:
Positions_reduced.csv
Size:
992.2Kb
Format:
CSV file
Description:
The UR5 joint angle data (rad)
View/Open
Thumbnail
Name:
Velocities_reduced.csv
Size:
975.8Kb
Format:
CSV file
Description:
The UR5 joint velocity data (rad/s)
View/Open

This item appears in the following Collection(s)

  • Public Research Data
    A collection of research data, held in this repository, that is publicly available, except where individual embargoes apply

Show simple item record

CC-BY
Except where otherwise noted, this item's license is described as Creative Commons by Attribution