DESCRIPTION:
The dataset consists of jaw force measurements during the transportation of an object by a robot using a custom MR fluid gripper. The trajectory of the robot's movement includes lifting the object to a height of about 200 mm, horizontal displacement for a distance of 400 mm, and lowering by 200 mm. The transfer procedure begins with the closing of the jaws and ends with their opening. The force sensor is ended with dies of various shapes, which are shown in the attached image in the ReadMe files. They have been referred to as objects. The purpose of the study was to determine the effect of using MR fluid-filled cushions on the transfer of objects with specific shapes. The experiment was conducted for four listed objects of different shapes and three values of acceleration as well as velocity of the robot joints. For each such configuration, 16 handling tests were carried out.
LICENSE:
The data are under Creative Commons License CC BY. It is though recommended to manipulate along with the author to fully understand the outcomes. If you have any questions do not hesitate to contact: marcin.bialek@put.poznan.pl
This research was funded by the National Science Centre, Poland grant number: 2021/41/N/ST8/02619. https://ror.org/03ha2q922
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FILE:
- "dataset.csv" - processed measurement data obtained during the experiment.
For proper interpretation, please refer to the images provided below.
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COLUMNS:
- OBJECT [-] - determines the shape of the object being moved;
- SPEED [deg/s] - joint movement speed;
- ACC [deg/s2] - joint movement acceleration;
- SAMPLE [-] - sample number. For each object configuration, acceleration and speed, 16 trials were conducted;
- TIME [s] - the measurement time at which the force was recorded;
- FORCE [N] - force recorded as a function of time;
(2023-09-05)