Dataset of Collaborative Robots for Energy Consumption Modeling

Citation Author(s):
Juan
Heredia
SDU
Christian
Schlette
SDU
Mikkel
Baun Kjærgaard
SDU
Submitted by:
Juan Heredia
Last updated:
Tue, 08/17/2021 - 05:57
DOI:
10.21227/9wnt-8v86
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Abstract 

These datasets collect sensorial information about collaborative robot functioning. We recorded information from two different kinds of robots UR3e and UR10e. This dataset is used for data-driving modeling of the power consumption of cobots. The datasets have the following information: recording time, trajectory ID, joints' positions, joints' velocities, motor currents, motor torques, motor voltages, end effector position, force and momentum exerted to the end effector, current and voltage of the robot.

Instructions: 

# Data Base Parameters Description

t : time

qx : x articulation position

dqx : x articulation speed

Iqx : x articulation current

TCPx : TCP x position

TCPy : TCP y position

TCPz : TCP z position 

TCPa1 : TCP x rotation

TCPa2 : TCP y rotation

TCPa3 : TCP z rotation

Fx : Force x value in base coordinate system at tcp position as origin

Fy : Force y value in base coordinate system at tcp position as origin

Fz : Force z value in base coordinate system at tcp position as origin

Fa1 : Torque x value in base coordinate system at tcp position as origin

Fa2 : Torque x value in base coordinate system at tcp position as origin

Fa3 : Torque x value in base coordinate system at tcp position as origin

M : Norm of Cartesian linear momentum

V : Robot Voltage

I : Robot Current

JVx : Robot Articulation voltage

Tx : Robot Articulation torque

ID : ID Frame