Load cell torques and force data collection during tele-operated robotic Gas Tungsten Arc Welding in presence of collisions

In this article, we present a load cell dataset of torques and force during a tele-operated robotic Gas Tungsten Arc Welding in presence of collisions. The dataset comprises raw data of 15 tests with four columns sorted as in Table 1.

First column Second column Third column Fourth column
Torque on x-axis Torque on y-axis Force on x-axis Collisions
Table 1 Description of the raw data columns

Torques are numerical values expressed in [Nm] while force values are expressed in [N]. Collisions column, instead, are zeros/ones values indicating whether a collision is verified (i.e., ones values) or not (i.e., zeros values). In addition, tests data are provided in .mat files for eventual processing in Matlab software.

本文提出一款遥控式机器人钨极气体保护电弧焊（Gas Tungsten Arc Welding，简称GTAW）在存在碰撞工况下的扭矩与力测力传感器（load cell）数据集。本数据集包含15组测试的原始数据，共设四列，列的排布规则如表1所示。

表1 原始数据列说明
第一列 第二列 第三列 第四列
X轴扭矩 Y轴扭矩 X轴力 碰撞标识

扭矩的数值单位为牛米（Nm），力的数值单位为牛顿（N）。碰撞标识列的取值为0或1，其中1代表检测到碰撞，0代表未检测到碰撞。此外，测试数据以.mat格式文件提供，可用于Matlab软件进行后续处理。