Industrial cyber-physical systems (ICPS), which is the backbone of Industry 4.0, are the result of adapting emerging information communication technologies (ICT) to the industrial control systems (ICS). ICPS utilize autonomous robotic arms to accomplish manufacturing tasks. These arms follow a certain predetermined trajectory during the task. 

In this dataset, we present four files generated from a setup that contains two Universal Robot UR3e collaborative robotic arms:


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.