Dataset for Energy Assessment of Collaborative Robots

Citation Author(s):
Juan
Heredia
SDU
Christian
Schlette
SDU
Mikkel
Baun Kjærgaard
SDU
Submitted by:
Juan Heredia
Last updated:
Tue, 08/17/2021 - 07:44
DOI:
10.21227/xz5d-mg81
License:
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Abstract 

This dataset is used to assess the energy consumption of the collaborative robot UR3e. The dataset consists of six experiments. Different operational conditions are modified in each experiment to determine their influence. The datasets have the following information: recording time, trajectory ID, joints' positions, joints' velocities, motor currents, motor torques, motor voltages, motor temperatures, current, and voltage of the robot. This dataset is used as a study case of a new methodology for energy assessment.

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