Dataset and Baseline for an Industrial Robot Identification Benchmark

  • We present an identification benchmark data set for a full robot movement with an KUKA KR300 R2500 ultra SE industrial robot. It is a robot with a nominal payload capacity of 300 kg, a weight of 1120 kg and a reach of 2500mm. It exhibits 12 states accounting for position and velocity for each of the 6 joints. The robot encounters backlash in all joints, pose-dependent inertia, pose-dependent gravitational loads, pose-dependent hydraulic forces, pose- and velocity dependent centripetal and Coriolis forces as well as a nonlinear friction, which is temperature dependent and therefore potentially time varying. We supply the prepared dataset for black-box identification of the forward or the inverse robot dynamics. Additional to the data for black-box modelling, we supply high-frequency raw data and videos of each experiment. A baseline and figures of merit are defined to make results compareable across different identification methods.

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Author:Jonas WeigandORCiD, Julian GötzORCiD, Jonas UlmenORCiD, Martin RuskowskiORCiD
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Document Type:Article
Language of publication:English
Publication Date:2022/02/02
Year of Publication:2022
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2022/02/04
Newer document version:urn:nbn:de:hbz:386-kluedo-72843
Tag:Benchmark; Black-Box; Dataset; Dynamics; Industrial Robotics; Neural Networks; Nonlinear Identification; Robots; System Identification
Number of page:20
Faculties / Organisational entities:Kaiserslautern - Fachbereich Maschinenbau und Verfahrenstechnik
CCS-Classification (computer science):E. Data
DDC-Cassification:5 Naturwissenschaften und Mathematik / 500 Naturwissenschaften
6 Technik, Medizin, angewandte Wissenschaften / 620 Ingenieurwissenschaften und Maschinenbau
MSC-Classification (mathematics):68-XX COMPUTER SCIENCE (For papers involving machine computations and programs in a specific mathematical area, see Section {04 in that areag 68-00 General reference works (handbooks, dictionaries, bibliographies, etc.)
Licence (German):Creative Commons 4.0 - Namensnennung (CC BY 4.0)