Robot motion data generated in the experiment

The data records the position of all motors, the angles of the end tool, and the force, in different methods and different parameter. The force recorded include the composition of forces and the force in three directions, and the angles in planes perpendicular to each other. Also, methods include the AIRS, PID, and our method, and different parameters tested for every method, and the best performance by each method is recorded and compared.

本数据集记录了不同控制方法及不同参数配置下，所有电机的位置、末端工具的角度与受力数据。所记录的受力包含力的合成结果与三维轴向分力，同时涵盖相互垂直平面内的角度数据。本次研究涉及的控制方法包括AIRS、比例-积分-微分（Proportional-Integral-Derivative，简称PID）以及本研究提出的方法；针对每种方法均开展了多组不同参数的测试，并记录各方法的最优性能以进行横向对比分析。