Data and code for Friction and Angle-Synchronous Current Ripple in a Harmonic-Drive Joint: Characterization and Feedforward Compensation

Raw acquisition records, experiment metadata, analysis outputs, reference code, and final figure sources supporting manuscript version 20.5 of “Friction and Angle-Synchronous Current Ripple in a Harmonic-Drive Joint: Characterization and Feedforward Compensation”. The dataset includes 105 raw CSV files covering legacy steady/breakaway/feedforward campaigns, R18, R19, and electronic-cam experiments. Repository metadata include channel dictionaries, analysis windows, file-level SHA-256 indexes, and a portable electronic-cam reproduction script. The files are divided into six ZIP archives; extract all archives into the same destination folder before running the verification and reproduction scripts.