Dataset and related MATLAB scripts for the IEEE ICRA 2021 paper "Predicting the Post-Impact Velocity of a Robotic Arm via Rigid Multibody Models: an Experimental Study"

This dataset contains impact data (recording of joint displacement encoders), together with related MATLAB scripts for visualization and post-processing, for several impact experiments performed on a KUKA IV+ collaborative robot colliding a wooden table with a spherical metallic end-effector.The dataset is associated to the "Predicting the Post-Impact Velocity of a Robotic Arm via Rigid Multibody Models: an Experimental Study" by Ilias Aouaj, Vincent Padois, and Alessandro Saccon, accepted to ICRA 2021.