Robot Arm Position Accuracy Degradation Measurements

Degradation Measurement of Robot Arm Position Accuracy contains data on robot health and controller-level components from a Universal Robot UR5. The dataset includes high-level tool center position (TCP) health data and joint-level information like positions, velocities, currents, and temperatures. It was created by the National Institute of Standards and Technology to support the development and validation of robot health monitoring algorithms.

Use Cases

• Analyze TCP (x,y,z) position differences to model accuracy degradation under varying temperature, payload, and speed conditions.
• Use joint temperatures and currents from controller-level data for root cause analysis of robot performance degradation.
• Validate robot TCP accuracy after work cell reconfiguration using measured versus nominal position data.
• Research prognostics and health management (PHM) technologies by correlating joint velocities and accelerations with position errors.

Strengths

• Includes both high-level TCP health data and detailed controller-level joint data (positions, velocities, currents, temperatures).
• Data collected under controlled experimental conditions with varying temperature, payload, and speed.
• Originates from the National Institute of Standards and Technology (NIST), a recognized authority.
• Designed specifically for developing and validating robot health monitoring and PHM algorithms.

Limitations

• Dataset size, row count, and specific column details are unknown, limiting preliminary assessment of scope.
• Data is from a single robot model (Universal Robot UR5), which may limit generalizability to other robotic systems.
• Last update was in July 2022, potentially making the data stale for rapidly evolving robotics applications.

Provenance

Source

National Institute of Standards and Technology (NIST)

Collection Method

Data collected from a Universal Robot UR5 moving along a preprogrammed trajectory; TCP measured by a NIST-developed 7-D measurement system, with controller-level data logged directly.

Freshness

Last updated 2022-07-29; no update frequency specified.