Aggregated Robot Motion in Relation to Joint Stress (alpha)

This dataset encompasses aggregated information per execution of a program line focusing on robot motion, obtained through flight recordings generated by the Real-Time Data Exchange. The data was recorded from 1325 Universal Robot e-series robots, covering 9800 unique motion executions. Each row represents a particular joint and the following features, resulting in 56405 rows:

* `ur_model`: The e-series model number.
* `joint`: The particular robot joint, [0,5].
* `max_torque`: The maximal torque for the joint size.
* `main_joint`: The joint that moved the furthest during the execution of this programming line.
* `window_size`: The number of data entries facilitating this row (the length of the RTDE time series).
* `velocity_input`: The input velocity argument for the program line.
* `acceleration_input`: The input acceleration argument for the program line.
* `tcp_distance`: The Eucledian travel distance for the TCP.
* `base_wrist_distance_current`: The Euclidean distance from the base to the TCP at the start.
* `base_wrist_distance_desired`: The Euclidean distance from the base to the TCP at the end.
* `moment_mx_delta`: The maximum recorded Rate of Change for the moment in the particular joint.
* `moment_max`: The maximum recorded moment in the particular joint.
* `torque`: The maximum recorded torque in the particular joint.
* `velocity`: The maximum recorded velocity in the particular joint.
* `acceleration`: The maximum recorded acceleration in the particular joint.
* `current`: The maximum recorded current in the particular joint.
* `dir_change`: Whether the joint changed rotational direction during execution.
* `current_position`: Start position in radians for the particular joint.
* `desired_position`: End position in radians for the particular joint.
* `joint_distance`: Total radians rotated during execution.
* `robot_id`: Anonymous ID of the particular robot.
* `line_id`: Line ID.
* `alpha`: Amount of stress exerted on the particular joint.

label_0 = 25 < delta
label_1 = 20 < delta < 25
label_2 = 15 < delta < 20
label_3 = delta < 15

Delta denotes wear cycles and can be found here: https://ieeexplore.ieee.org/document/10443045

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