筒子纱自动挂纱机器人测试数据

本数据集来源于鲁泰纺织股份有限公司整经车间工业机器人自动抓纱真实作业场景，旨在支持工业机器人轨迹规划与控制算法的研究与应用。该数据集基于六轴工业机器人运动控制系统采集生成，主要记录了机器人在执行五次不同抓取路径（路径1至路径5）过程中六个关节（关节1至关节6）的完整运动状态，包括关节角度（单位：rad）、关节角速度（单位：rad/s）、关节角加速度（单位：rad/s²）和关节角加加速度（单位：rad/s³）四类关键运动学观测值。数据集总记录数为1355条，文件格式为Excel，适用于机器人运动学建模、轨迹优化、控制策略验证及智能制造系统仿真等研究领域。

This dataset is sourced from real automatic yarn grasping operation scenarios of industrial robots in the warping workshop of Lutai Textile Co., Ltd., aiming to support the research and application of industrial robot trajectory planning and control algorithms. This dataset was collected and generated based on the motion control system of a six-axis industrial robot, and mainly records the complete motion states of the six joints (Joint 1 to Joint 6) of the robot during the execution of five different grasping paths (Path 1 to Path 5), including four key kinematic observation values: joint angle (unit: rad), joint angular velocity (unit: rad/s), joint angular acceleration (unit: rad/s²), and joint angular jerk (unit: rad/s³). The total number of records in this dataset is 1355, and the file format is Excel. It is applicable to research fields such as robot kinematics modeling, trajectory optimization, control strategy verification, and intelligent manufacturing system simulation.

搜集汇总

背景与挑战

背景概述

该数据集是鲁泰纺织股份有限公司在整经车间采集的筒子纱自动挂纱机器人测试数据，用于支持工业机器人轨迹规划与控制算法的研究。它包含六轴机器人在五次不同抓取路径中六个关节的运动状态数据（如角度、速度等），总计1355条记录，以Excel格式提供，适用于机器人运动学建模和智能制造仿真等领域。