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

Publication Date
March 13, 2023
Creators
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 Coverage (Spatial): University of Nottingham, Nottingham, UK Collection dates: 20/01/2022
External URI
DOI
Subjects (LCSH)

Robotics

Antigravity

Mathematical models

Neural networks (Comp...

Robots, Industrial

Subjects

Robotics, anti-gravit...

Subjects (JACS)

Engineering::Mechanic...

Subjects (LC)

T Technology::TJ Mech...

Q Science::QC Physics...

Divisions
University of Nottingham, UK Campus
Data type
CSV data set
Funders
Grant Number
EP/T023805/1
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 OS
Resource languages
English
Publisher
The University of Nottingham
Date Issued
March 13, 2023
Except where otherwise noted, this item's license is described as
File(s)
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Name

Positions_reduced.csv

Description
The UR5 joint angle data (rad)
Size

992.29 KB

Format

Comma Separated Variable (CSV)

Checksum (MD5)

a98ac0ede82935d12455bd6a391214c0

Thumbnail Image
Name

Efforts_reduced.csv

Description
The motor currents gathered from the UR5 joints (A)
Size

995.47 KB

Format

Comma Separated Variable (CSV)

Checksum (MD5)

b099afbfa9304f2924d8feb9c7f85cc2