Data : 9-DoF Personal Robot Servant

Citation Author(s):
Submitted by:
Abhishek Bansal
Last updated:
Mon, 01/16/2023 - 02:00
Data Format:
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 This dataset is in support of my research paper '9-DoF Personal Robot Servant'.  

Preprint :

On this robot servant, my first work was done in the year 2011.

Image Source:


  Read Me

(1)  This  neither contain any complete project folder nor any source code of project.

(2) Extra Libraries created, modified , other scripts , not shared, as very elementary for any graduate,degree holder.

(3) All work is simple , on basic and elementary concepts, can be easily copied, remade and understood.

(4)  For other details like block/circuit diagram, set up, analysis, interpretation, parameters, mathematical formulae used to obtain these results etc. please refer "Research Paper".

(5)  This is the last version and there won't be any other improvement or corrections or re-upload.

(6)  The dataset has been checked by the 'Data or Code or model Inspector' before uploading.

(7)  .mat files can be converted to .csv or .xlsx or .xls, you can ask company engineer (they may even do) or you can even do yourself. Some softwares allow direct loading of .mat in their softwares.

(8) If any problem in creating or copying, pls contact your university professor or board or any of the companies engineer.

(9) No other question or email will be replied.


Dataset Files

 Total Datasets = 85 .

 Attached files are : 



1) has following 9 datasets

  • dof1_b.mat
  • dof1_d.mat
  • dof1_fk.mat
  • dof1_PI.mat
  • dof1_ra.mat
  • dof1_rev.mat
  • dof1_spa.mat
  • dof1_t.mat
  • dof1_w.mat 

2) has following 9 datasets

  • dof2_b.mat
  • dof2_d.mat
  • dof2_fk.mat
  • dof2_PI.mat
  • dof2_ra.mat
  • dof2_rev.mat
  • dof2_spa.mat
  • dof2_t.mat
  • dof2_w.mat

 3) has following 9 datasets

  • dof3_b.mat
  • dof3_d.mat
  • dof3_fk.mat
  • dof3_PI.mat
  • dof3_ra.mat
  • dof3_rev.mat
  • dof3_spa.mat
  • dof3_t.mat
  • dof3_w.mat

4) has following 9 datasets

  • dof4_b.mat
  • dof4_d.mat
  • dof4_fk.mat
  • dof4_PI.mat
  • dof4_ra.mat
  • dof4_rev.mat
  • dof4_spa.mat
  • dof4_t.mat
  • dof4_w.mat

 5) has following 9 datasets

  • dof5_b.mat
  • dof5_d.mat
  • dof5_fk.mat
  • dof5_PI.mat
  • dof5_ra.mat
  • dof5_rev.mat
  • dof5_spa.mat
  • dof5_t.mat
  • dof5_w.mat

 6) has following 9 datasets

  • dof6_b.mat
  • dof6_d.mat
  • dof6_fk.mat
  • dof6_PI.mat
  • dof6_ra.mat
  • dof6_rev.mat
  • dof6_spa.mat
  • dof6_t.mat
  • dof6_w.mat

7) has following 9 datasets

  • dof7_b.mat
  • dof7_d.mat
  • dof7_fk.mat
  • dof7_PI.mat
  • dof7_ra.mat
  • dof7_rev.mat
  • dof7_spa.mat
  • dof7_t.mat
  • dof7_w.mat

8) has following 9 datasets

  • dof8_b.mat
  • dof8_d.mat
  • dof8_fk.mat
  • dof8_PI.mat
  • dof8_ra.mat
  • dof8_rev.mat
  • dof8_spa.mat
  • dof8_t.mat
  • dof8_w.mat 

9) has following 9 datasets

  • dof9_b.mat
  • dof9_d.mat
  • dof9_fk.mat
  • dof9_PI.mat
  • dof9_ra.mat
  • dof9_rev.mat
  • dof9_spa.mat
  • dof9_t.mat
  • dof9_w.mat

 10)  has following 4 datasets

  • robot.mat
  • rotangleEuler.mat
  • rotangle.mat
  • xyz.mat

11) dof_b.mat is the data of stopping of movement.

12) dof_d.mat is the data of duty cycle of MOSFET.

13) dof_fk.mat is the data of feedback angles.

14) dof_PI.mat is the data of output of PI.

15) dof_ra.mat  is the data of reference angles.

16) dof_rev.mat is the data of changing of the movement.  

17) dof_spa.mat is the data of set angles.  

18) dof_t.mat is the data of torque.

19) dof_w.mat  is the data of speed.

 20) robot.mat is the data of coordinates of the path. 

21) rotangleEuler.mat is the data of rotation angle

22) rotangle.mat is the data of Euler rotation angle.

23) xyz.mat is the data of coordinates of the path during walking of the robot.


How use Dataset Files

 The data can be studied and used in various ways.

(1)  The values given in the dataset or in the Research paper can be used by doctors, manufacturers, R&D engineers, robot manufacturers etc.

(2)  The dataset and Research paper can be used to design more variants.

(3) The dataset and Research paper can be used for study using less engineering knowledge or with open-source softwares.

(4)  There are many data analysis softwares - proprietary and open source softwares.

(5)  The dataset can be loaded into proprietary softwares or trial versions of Finite element or other simulation softwares to regenerate same model  or other model or to conduct other study.

(6)  One particular study or some experiments can be copied for degree thesis, project or phd thesis. 


Paper Citing : If want to cite this in paper etc. ,please refer DoI and/or this url.

Funding: There are no funders for this submission. The  author has himself fully self-financed (for his passion). I expect all these papers, would be nice Shroud for the passion and the price paid.

Acknowlegement :  The author as such thankful to none and does not have any special name to be acknowledged.


If there will be improved or other version, it will be submitted in other paper and/or dataset and may be also get filed for Patent.

Submitted by Abhishek Bansal on Tue, 11/15/2022 - 06:31

This is the last update in this Doi, any improved or new model will be in new doi.

Submitted by Abhishek Bansal on Tue, 11/15/2022 - 10:58

This entry is for International Contest(Category:Individual,Solo), the datasets have been uploaded only during the contest time period.
Only Preprint page links will get updated in Dec. 2022 ( I have removed them as weblinks not functional).
This DOI entry is complete. If I make new prototype or do simulation, it will be in another DOI/dataset.
Abhishek Bansal

Submitted by Abhishek Bansal on Wed, 11/23/2022 - 13:25

I m not completing research paper, the earlier version got lost in computer crash.
I will not re-write or submit paper as left R&D.
Abhishek Bansal

Submitted by Abhishek Bansal on Sun, 12/18/2022 - 13:28

I had earlier got remark by someone- If these is my work or stolen or copied paste or other ... remark, from some graduate/pg/plagiarised phd degree holder.

As I wont later entertain any question/remark and I will stop replying lateron (which may start to happen next week or next year). I have uploaded this for free download on an open-access myself

Bansal, Abhishek (2023), “Data : 9-DoF Robot Servant”, Mendeley Data, V1, doi:

Submitted by Abhishek Bansal on Thu, 08/17/2023 - 22:35

Acknowledgement : The author as such is thankful to none but obliged to his family for bearing his personal endeavours! The papers are submitted under individual and solo category, not representing anyone else. If invited or given any award, he is representing only himself, as an individual and not anyone else, not India as it is criminal by Indian laws. The author cannot, for the humiliation, harassment, and now all wrap up.

Submitted by Abhishek Bansal on Tue, 10/03/2023 - 13:31

Someone had raised concern "... prohibited to work ...without qualification..."

In my personal case, I am only representing only myself not anyone else, not country. As far as this is taken, it is not criminal.

I am always attaching legal acknowledgement and disclosure, (which some graduates find ...)

Submitted by Abhishek Bansal on Fri, 10/13/2023 - 13:29

I have stated above but some still taking for granted and if I DO NOT control, they &critics knowcan put me in non-bail jail. You not reading legal disclousure statement, and its clear from both sides as your .. x cannot pay 1/4 of the fresher with 20yr exp., and it is evident the shameless, torture behaviour and coverup with lies even in court, IT IS permanently damaged for coming 1000 years+.
In legal disclosure, I have clearly stated it is criminal by indian laws as was even questioned by registrar in 2015, how did electrical from electronics.
You shouldnot expect anything more than my paid service.

Submitted by Abhishek Bansal on Wed, 02/14/2024 - 12:43

Dataset Files