力/力矩传感器集成测试数据集
收藏资源简介：
该数据集主要面向机器人精密力感知、传感器精度标定、力控制算法验证及动态力学特性分析等研究需求建设，其基于实际的力/力矩传感器测试平台，通过直接对传感器施加已知载荷并采集其输出信号的方式产生。数据主要记录了在可控测试条件下力/力矩传感器（尤其是6D力传感器）的性能评估数据，具体内容包括：传感器输出的检测值、误差绝对值、检测均值与误差均值等精度指标表格；反映传感器响应过程的数据曲线图；以及包含原始时序数据的ROS bag日志文件。数据集中包含了对传感器施加5N标准力时，其检测均值为5.259N的典型测试结果，验证了传感器误差在允许范围内，为传感器在静态与动态负载下的测量准确性、重复性与线性度提供了直接的实验依据。该数据集以表格、图像及数据包格式存储，支持使用Excel或数据分析脚本进行快速处理与分析，适用于传感器选型验证、力控系统前馈补偿参数标定、以及机器人交互作业中力感知模块的性能评估与可靠性测试。
This dataset is developed to meet research requirements including robotic precise force perception, sensor accuracy calibration, force control algorithm validation, and dynamic mechanical property analysis. It is built on an actual force/torque sensor test platform, and generated by directly applying known loads to the sensor and collecting its output signals. The data mainly records performance evaluation data of force/torque sensors (especially 6D force sensors) under controllable test conditions, specifically including: tables of accuracy metrics such as detected sensor output values, absolute error values, detected mean values and error mean values; data curves reflecting the sensor's response process; and ROS bag log files containing original time-series data. The dataset includes a typical test result where the detected mean value is 5.259N when a 5N standard force is applied to the sensor, which verifies that the sensor's error is within the allowable range, and provides direct experimental evidence for the measurement accuracy, repeatability and linearity of the sensor under static and dynamic loads. This dataset is stored in table, image and data package formats, supports rapid processing and analysis via Excel or data analysis scripts, and is applicable to sensor selection validation, feedforward compensation parameter calibration for force control systems, as well as performance evaluation and reliability testing of force perception modules in robotic interactive tasks.
