I.AM. Archive containing experiments of a UR10 with suction gripper holding a Variable Inertia Object for suction cup stiffness identification

I.AM. dataset as part of the Impact-Aware Robotics Database. This dataset contains recordings of experiments with a robotic arm (UR10), holding a Variable Inertia Object with different inertias via a suction cup under vacuum. The purpose of these experiments is to identify the model parameters of a newly developed 6D suction cup model and validate this model under different circumstances. The involved contact is between the robot end-effector and the object.I.AM. 数据集（I.AM. Dataset）是碰撞感知机器人数据库（Impact-Aware Robotics Database）的组成部分。本数据集收录了机械臂（UR10）的实验录制数据：该机械臂借助真空环境下的吸盘，抓取不同惯量值的变惯量物体（Variable Inertia Object）。本实验的核心目标为辨识全新研发的六维吸盘模型（6D suction cup model）的参数，并在不同工况下对该模型进行有效性验证。本次实验涉及的接触场景为机器人末端执行器与被抓取物体之间的接触。