Dataset and related MATLAB scripts for the IEEE ICRA 2021 paper "Predicting the Post-Impact Velocity of a Robotic Arm via Rigid Multibody Models: an Experimental Study"

This dataset contains impact data (recording of joint displacement encoders), together with related MATLAB scripts for visualization and post-processing, for several impact experiments performed on a KUKA IV+ collaborative robot colliding a wooden table with a spherical metallic end-effector.<br>The dataset is associated to the "Predicting the Post-Impact Velocity of a Robotic Arm via Rigid Multibody Models: an Experimental Study" by Ilias Aouaj, Vincent Padois, and Alessandro Saccon, accepted to ICRA 2021.

本数据集包含多组碰撞实验的相关数据（记录关节位移编码器（joint displacement encoders）信号），以及用于可视化与后处理的配套MATLAB脚本；上述实验均基于库卡（KUKA）IV+协作机器人开展，实验场景为该机器人以球形金属末端执行器（spherical metallic end-effector）碰撞木质桌面。本数据集与Ilias Aouaj、Vincent Padois及Alessandro Saccon合著的论文《基于刚性多体模型预测机械臂碰撞后速度：一项实验研究》（Predicting the Post-Impact Velocity of a Robotic Arm via Rigid Multibody Models: an Experimental Study）相关联，该论文已被2021年国际机器人与自动化大会（ICRA 2021）收录。