Dataset and Baseline for an Industrial Robot Identification Benchmark

We present an identification benchmark data set for a full robot movement with an KUKA KR300 R2500 ultra SE industrial robot. It is a robot with a nominal payload capacity of 300 kg, a weight of 1120 kg and a reach of 2500mm. It exhibits 12 states accounting for position and velocity for each of the 6 joints. The robot encounters backlash in all joints, pose-dependent inertia, pose-dependent gravitational loads, pose-dependent hydraulic forces, pose- and velocity dependent centripetal and Coriolis forces as well as a nonlinear friction, which is temperature dependent and therefore potentially time varying. We supply the prepared dataset for black-box identification of the forward or the inverse robot dynamics. Additional to the data for black-box modelling, we supply high-frequency raw data and videos of each experiment. A baseline and figures of merit are defined to make results compareable across different identification methods.

搜集汇总

背景与挑战

背景概述

该数据集为工业机器人识别基准提供全运动数据，涵盖KUKA KR300机器人的6关节12状态，并包含间隙、惯性、重力、液压、科里奥力及非线性摩擦等多种动力学因素。除黑箱建模的数据外，还提供高频原始数据和实验视频，并定义了基线和品质因数以便于不同识别方法的比较。