"Experimental data on the dynamic control of the Hybrid spraying robot"

"The hybrid cable-driven spraying robot is a specialized robot designed to address the challenges of automated spraying on large, complex surfaces. It combines the advantages of cable-driven systems\u2014such as high speed and large workspace\u2014with the high precision and flexibility characteristics of rigid robots, forming a hybrid drive system that integrates both rigidity and flexibility.This dataset includes simulation and experimental data generated during motion and dynamic control experiments of the hybrid cable-driven spraying robot. It aims to provide reliable data support for the verification, reproduction, and optimization of robot control algorithms. In the simulation data section, the dataset contains desired motion trajectories in both the robot\u2019s operational space and joint space, generated based on a pose decomposition algorithm. This algorithm decouples the end-effector pose in complex spraying tasks into coordinated movements driven by the cable system and the robotic arm joints, producing trajectory data accordingly.In the experimental data section, the dataset records multiple key state variables from actual control experiments, primarily including cable length errors, cable length synchronization errors, robotic arm joint angle errors, and the end-effector pose of the spray nozzle. Among these, the cable length error reflects the response accuracy of the cable-driven system under tension control, while the synchronization error is used to evaluate the coordination of multi-cable cooperative motion. The joint angle errors and spray nozzle pose data together reveal the dynamic performance of the hybrid system during trajectory tracking."