Robot Arm PayLoad Inertia Prediction Data

This dataset accompanies our study on online identification of payload inertial parameters for serial industrial robots. It includes the key data required to reproduce the reported experiments, including raw robot configurations, end-effector and payload settings, simulation trajectories, and real-robot runs on a Franka Emika Panda. The shared records contain timestamps, joint positions, joint velocities, joint torques, and reference inertial parameters. The dataset covers diverse payload configurations, trajectory types, speed scales, unseen-load evaluations, and contact-test scenarios, supporting model training, fine-tuning, result reproduction, dynamics compensation analysis, and comparative studies.